Robotic arms

ABSTRACT

A robotic surgical system includes a robotic arm comprising a first segment having a first plurality of links and a first plurality of actuated joint modules providing the robotic arm with at least five degrees of freedom, and a second segment having a proximal end coupled to a distal end of the first segment, and comprising a second plurality of links and a second plurality of actuated joint modules providing the robotic arm with at least two degrees or freedom. The robotic surgical system further comprises an instrument driver coupled to the second segment and configured to hold a surgical instrument. The second arm segment is configured to move the surgical instrument within a generally spherical workspace, and the first arm segment is configured to move the location of the spherical workspace.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Patent Application Ser. No.62/395,704, filed on Sep. 16, 2016, which is hereby incorporated by thisreference in its entirety.

TECHNICAL FIELD

This disclosure relates generally to robotic or robotic-assisted systemsand, more particularly, to robotic arms for robotic or robotic-assistedsurgical systems.

BACKGROUND

Minimally-invasive surgery (MIS), such as laparoscopic surgery, involvestechniques intended to reduce tissue damage during a surgical procedure.For instance, laparoscopic procedures typically involve creating anumber of small incisions in the patient (e.g., in the abdomen), andintroducing one or more tools and at least one camera through theincisions into the patient. The surgical procedures are then performedby using the introduced instruments, with the visualization aid providedby the camera.

Generally, MIS provides multiple benefits, such as reduced patientscarring, less patient pain, shorter patient recovery periods, and lowermedical treatment costs associated with patient recovery. However,standard MIS systems have a number of drawbacks. For example,non-robotic MIS systems place higher demands on the surgeon, in partbecause they require surgeons to indirectly manipulate tissue via toolsin a manner that may not be natural. Conventional robotic systems, whichmay include robotic arms for manipulating tools based on commands froman operator, may provide many benefits of MIS while reducing demands onthe surgeon. However, such robotic arms tend to be large and difficultto set up and manage. Additionally, many conventional robotic arms havea significantly limited number of arm configurations such that theyrestrict accessibility to internal organs in the body. Thus, it isdesirable to have robotic arms for robotic-assisted surgical systemsthat are easier to use and present more clinical options for a greatervariety of procedures and patient types.

SUMMARY

Generally, a robotic surgical system may include a robotic arm and aninstrument driver configured to hold a surgical instrument. The roboticarm may include a roll link, a first link rotatable within a first planeand having a proximal end coupled to a distal end of the base link, anda second link rotatable within a second plane and having a proximal endcoupled to a distal end of the first link. The instrument driver may becoupled to a distal end of the second link such that the instrumentdriver is not parallel to at least one of the first and second planes.In some variations, the robotic arm may be foldable into a compactconfiguration in which the instrument driver is positioned between theroll link and the first link and/or second link. For example, at least aportion of the roll link may be oriented along a roll axis and at leasta portion of the instrument driver may be angularly offset from the rollaxis.

The first and second links in the robotic arm may be different lengths.For example, the first link may be shorter than the second link. Thefirst and second links may be operatively coupled with a pulleyarrangement (e.g., to operate a parallelogram or other suitable four-barlinkage, as described herein).

In some variations, the robotic arm may include a first arm segmentincluding a first plurality of actuated links providing the robotic armwith at least five degrees of freedom. The robotic arm may include asecond arm segment including a second plurality of actuated linksproviding the robotic arm with at least two degrees of freedom. In somevariations, the second plurality of actuated links may include a rolllink, a first link, and a second link (e.g., the roll link, the firstlink, and the second link described above). In some variations, thesecond arm segment may be configured to move the surgical instrumentwithin a generally spherical workspace, and the first arm segment may beconfigured to move the location of the spherical workspace.

For example, a degree of freedom of the robotic arm (e.g., in the secondarm segment) may be provided by rotation of the roll link relative tothe first arm segment. Rotation of the roll link relative to the firstarm segment may, for example, cause movement of the instrument driver ina roll direction. As another example, a degree of freedom of the roboticarm (e.g., in the second arm segment) may be provided by synchronousrotation of the first and second links relative to the roll link.Synchronous rotation of the first and second links may, for example,cause movement of the instrument driver in a pitch direction.

In some variations, the instrument driver may be configured to rotatethe surgical instrument around a remote center of motion. In some ofthese variations, the second arm segment may be configured to rotate theinstrument driver around a roll axis and a pitch axis, where at leastone of the roll axis and the pitch axis does not intersect with theremote center of motion. For example, the roll axis and/or the pitchaxis may be offset by about 5 centimeters or less, or about 2centimeters or less, from the remote center of motion. In somevariations, both the roll axis and the pitch axis may not intersect withthe remote center of motion.

Generally, in some variations, a robotic surgical system may include arobotic arm and an instrument driver. The robotic arm may include afirst arm segment having a first plurality of links providing therobotic arm with at least five degrees of freedom, and a second armsegment having a second plurality of links providing the robotic armwith at least two degrees of freedom. The instrument driver may beconfigured to hold a surgical instrument and configured to rotate thesurgical instrument around a remote center of motion. The second armsegment may be configured to rotate the instrument driver around a rollaxis and a pitch axis, where the roll axis and/or the pitch axis doesnot intersect with the remote center of motion. For example, in somevariations, at least one of the roll axis and the pitch axis may beoffset by about 5 centimeters of less, or about 2 centimeters or less,from the remote center of motion.

The second arm segment may be configured to move the surgical instrumentheld by the instrument driver within a generally spherical workspace,and the first arm segment may be configured to move the location of thegenerally spherical workspace. In some variations, the second pluralityof links may include a roll link, a first pitch link, and a second pitchlink. Rotation of the roll link relative to the first arm segment maycause movement of the instrument driver around the roll axis.Synchronous rotation of the first and second pitch links may causemovement of the instrument driver around the pitch axis. In somevariations, the first and second pitch links may be different lengths(e.g., the first pitch link may be shorter than the second pitch link).

In some variations, the robotic surgical system may include a pluralityof joint modules configured to actuate the first and second pluralitiesof actuated links. A controller may be configured to actuate at leastone joint module based on at least one of a plurality of control modes.For example, in a gravity compensation mode, the controller maydetermine gravity force acting on at least a portion of the links, andactuate at least one joint module to counteract the determined gravityforce. As another example, in a friction compensation mode, thecontroller may determine the presence of a user-applied force acting toback-drive at least one joint module, and actuate the at least one jointmodule to reduce the user-applied force required to back-drive the atleast one joint module. In the friction compensation mode, thecontroller may, for example, actuate the at least one joint module basedon a dithering signal until the controller determines the presence ofthe user-applied force.

In some variations, the robotic surgical system may include a finepositioning clutch configured to substantially restrict relativepositions of at least a portion of the second plurality of links in thesecond arm segment while enabling relative movement among the firstplurality of links in the first arm segment. Other suitablemanually-operated and/or controller-operated features may be used tooperate the robotic surgical system, such as those described herein.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A-1D are schematic illustrations of one variation of a roboticarm for a robotic-assisted surgical system. FIG. 1E is a symbolicschematic of one variation of a spherical pitch assembly for a roboticarm.

FIG. 2A is a schematic illustration of one variation of a sphericalpitch assembly for a robotic arm. FIG. 2B is a schematic illustration ofthe spherical pitch assembly depicted in FIG. 2A, moving throughout aseries of configurations with a moving remote center of motion.

FIGS. 3A and 3B are schematic illustrations of one variation of aspherical pitch assembly for a robotic arm.

FIG. 4 is a schematic illustration of another variation of a sphericalpitch assembly for a robotic arm with offset spherical roll, sphericalpitch, and instrument rotation axes.

FIGS. 5A-5C are side view, top view, and front views of anothervariation of a robotic arm for a robotic-assisted surgical system.

FIGS. 6A and 6B are schematic illustrations of exemplary foldedconfigurations of a variation of a robotic arm.

FIGS. 7A and 7B are side and bottom views of a robotic surgical systemincluding a plurality of robotic arms in a folded configuration andcoupled to a patient table.

FIGS. 8A and 8B are schematic illustrations of “low” and “flipped” armconfigurations of one variation of a robotic arm.

FIG. 9A is a perspective view of an exemplary joint module. FIG. 9B is aperspective view of a high load portion of the joint module depicted inFIG. 9A. FIG. 9C is a perspective view of the motor portion andelectronics housing in the joint module depicted in FIG. 9A. FIG. 9D isa perspective view of an exposed electronics housing in the joint moduledepicted in FIG. 9A.

FIG. 10A is a schematic illustration of one variation of a secondaryactuator for a bi-stable safety brake. FIG. 10B is a control diagram forthe secondary actuator depicted in FIG. 10A.

FIGS. 10C-10G are schematic illustrations of the secondary actuator, invarious states, for actuating a bi-stable brake.

FIG. 11A is a longitudinal cross-sectional view of an exemplary jointmodule with one variation of a bi-stable safety brake. FIGS. 11B-11F areschematic illustrations of various subassemblies in the bi-stable safetybrake depicted in FIG. 11A.

FIGS. 12A-12C are schematic illustrations of the brake depicted in FIG.11A in a “brake off” mode.

FIGS. 13A-13D are schematic illustrations of the brake depicted in FIG.11A in a “brake on” mode.

FIGS. 14A and 14B are perspective and longitudinal cross-sectionalviews, respectively of another variation of a bi-stable safety brake.FIG. 14C is a detailed longitudinal cross-sectional view of the brakedepicted in FIGS. 14A and 14B.

FIGS. 15A and 15B are partial perspective views of another variation ofa band brake-type safety brake for a joint module. FIG. 15C is anexploded perspective view of the brake depicted in FIGS. 15A and 15B.FIG. 15D is a perspective view of a band assembly in the brake depictedin FIGS. 15A and 15B. FIGS. 15E and 15F are side views of the brakedepicted in FIGS. 15A and 15B, in a “brake off” mode and a “brake on”mode, respectively. FIGS. 15G and 15H are exemplary control diagrams forcontrolling the brake depicted in FIGS. 15A and 15B.

FIGS. 16A-16C are exemplary variations of touchpoints on the roboticarm. FIG. 16D is an exemplary variation of a display screen on therobotic arm for communicating information to a user.

FIG. 17A is a schematic illustration of a light module assembly in onevariation of a robotic arm for communicating information to a user.FIGS. 17B and 17C are exemplary illumination patterns of the lightmodule assembly depicted in FIG. 17A.

FIG. 18 is an overview schematic of an exemplary control system setupfor controlling actuation of the joint modules of one variation of arobotic arm.

FIG. 19 is a state diagram summarizing primitive modes and user modesfor one variation of a control system for a robotic arm.

DETAILED DESCRIPTION

Non-limiting examples of various aspects and variations of the inventionare described herein and illustrated in the accompanying drawings.

Robotic Arm Overview

Generally, a robotic or robotic-assisted surgical system (e.g., toenable a minimally-invasive surgical procedure) may include one or morerobotic arms for manipulating surgical instruments, such as duringminimally-invasive surgery. A robotic arm may include a plurality oflinks, a plurality of actuated joint modules that enable relativemovement between adjacent links. For example, as shown in FIG. 1A, arobotic arm may include a first segment 110 having a proximal end and adistal end, and a second segment 150 having a proximal end (coupled tothe distal end of first segment 110) and a distal end. Additionally, aninstrument driver 180 may be coupled to the distal end of second segment150 and be configured to hold and actuate a surgical instrument passingthrough a cannula 190.

During use of the robotic arm 100 for a surgical procedure, the proximalend of first segment 110 may be mounted or otherwise coupled to astructure (e.g., a surgical table, cart, wall, ceiling, etc.) at amounting point near the patient during a surgical procedure. In somevariations, the first segment 110 may be referred to as the “Cartesianarm” segment because the first segment 110 may position a mechanicalremote center of motion (further described below) in three-dimensionalspace (e.g., x-y-z coordinates) relative to the mounting point of thefirst segment 110. Furthermore, the second segment 150 may be referredto as the “spherical arm” segment because the second segment 150 maymove the tip of the surgical instrument held by the instrument driverwithin an approximately spherical volume of space as defined by therange of motion of the second segment 150. The combination of theCartesian arm segment and the spherical arm segment may provide for ahigh degree of setup flexibility and dexterity for manipulating thesurgical instrument for various procedure types and patient types.

Robotic Arm Links

In some variations, as shown in FIG. 1B, the first segment 110 mayinclude a first plurality of links and a first plurality of actuatedjoint modules for actuating the first plurality of links relative to oneanother. For example, the first segment 110 may include at least fivelinks: a base link 112, a shoulder pitch link 114, a shoulder roll link116, an elbow link 118, and a forearm link 120, which are arranged inseries. Adjacent links may be connected in a manner such that theadjacent links are substantially constrained to movement around one axisrelative to one another. For instance, the base link 112 and theshoulder pitch link 114 may be substantially constrained to relativemovement around a pitch axis (e.g., the angle between the longitudinalaxis of the base link 112 and the longitudinal axis of the shoulderpitch link 114 may increase or decrease), such as with a clevis jointconstruction. The shoulder pitch link 114 and the shoulder roll link 116may be substantially constrained to relative movement around a roll axis(e.g., the longitudinal axes of the shoulder pitch link 114 and theshoulder roll link 116 may be substantially coaxial). The shoulder rolllink 116 and the elbow link 118 may be substantially constrained torelative movement around another pitch axis (e.g., the angle between thelongitudinal axis of the shoulder roll link 116 and the longitudinalaxis of the elbow link 118 may increase or decrease), such as by aclevis joint construction. The elbow link 118 and the forearm link 120may be substantially constrained to relative movement around anotherroll axis (e.g., the longitudinal axes of the elbow link 118 and theforearm link 120 may be substantially coaxial).

Additionally, the first segment 110 may include a first plurality ofactuated joint modules 132 configured to actuate the first segment 110with at least five degrees of freedom (DOFs), including at least tworedundant DOFs beyond the 3 DOF task of positioning the mechanicalremote center of motion in three-dimensional space. For instance, asshown in FIG. 1C, a first joint module 132 a may couple the shoulderpitch link 114 to the base link 112, and include at least one actuatorconfigured to pivot the shoulder pitch link 114 around Axis A relativeto the base link 112. A second joint module 132 b may couple theshoulder roll link 116 to the shoulder pitch link 114, and include atleast one actuator configured to rotate the shoulder roll link 116around Axis B relative to the shoulder pitch link 114. A third jointmodule 132 c may couple the elbow link 118 to the shoulder roll link116, and include at least one actuator configured to pivot the elbowlink 118 around Axis C relative to shoulder roll link 116. A fourthjoint module 132 d may couple the forearm link 120 to the elbow link118, and include at least one actuator configured to rotate the forearmlink 120 around Axis D relative to the elbow link 118. A fifth jointmodule 132 e may couple the second segment of the robotic arm (e.g., viaspherical base link 152) to the distal end of the first segment (e.g.,forearm link 120), and include at least one actuator configured to pivotthe second segment of the robotic arm around Axis E relative to theforearm link 120. Exemplary actuation and control schemes of the linksare described in further detail below.

The second segment 150 may include a second plurality of links and asecond plurality of actuated joint modules for actuating the secondplurality of links relative to one another. For example, as shown inFIG. 1B, the second segment 150 may include at least four links: aspherical base link 152, a spherical roll link 154, and first and secondpitch links 156 a and 156 b, respectively, forming spherical pitchassembly 156. As described above, the spherical base link 152 may becoupled to a distal end of the first segment (e.g., forearm link 120) toconnect the first arm segment 110 and the second arm segment 150. As inthe first segment 110, adjacent links in the second segment 150 may beconnected in a manner such that adjacent links are substantiallyconstrained to movement around one axis relative to one another. Forinstance, as shown in FIG. 1A, the spherical base link 152 may couple tothe forearm link 120 with a clevis joint construction that allowsrelative movement only around Axis E. Additionally, the spherical baselink 152 and the spherical roll link 154 may be substantiallyconstrained to relative movement around a roll axis (e.g., thelongitudinal axes of the spherical base link 152 and the spherical rolllink 154 may be substantially coaxial).

Additionally, the second segment 150 may include a second plurality ofactuated joint modules configured to provide the second segment 150 withat least two DOFs. For instance, as shown in FIG. 1C, a sixth jointmodule 134 f may couple the spherical roll link 154 to the sphericalbase link 152, and include at least one actuator configured to rotatethe spherical roll link 154 around roll Axis F relative to the sphericalbase link 152. A seventh joint module 134 g may couple the sphericalpitch assembly (via first pitch link 156 a) to the spherical roll link154, and include at least one actuator configured to pivot the firstpitch link 156 around Axis G relative to the spherical roll link 154.Exemplary actuation and control schemes of the links are described infurther detail below.

As shown in FIG. 1D, the second segment 150 may include spherical pitchassembly 156 including a first pitch link 156 a and a second pitch link156 b. Instrument driver 180 may be coupled to a distal end of secondpitch link 156 b. For instance, as shown in FIG. 1E, the first pitchlink 156 a, the second pitch link 156 b, and the instrument driver maymove as three links of a parallelogram or four-bar linkage, constrainedwith a drive mechanism (such as that further described below) with 1:1ratio in order to replicate the rotation of first pitch link 156 aaround Axis G into rotation of the instrument driver around pitch AxisG′ at the mechanical remote center of motion (RCM), where Axis G′ isoffset and parallel to Axis G. In other words, the seventh joint module134 g may actuate the first pitch link 156 a to pivot around Axis G,which through the spherical pitch assembly 156 indirectly actuates theinstrument driver (and the surgical instrument held by the instrumentdriver) to pivot around Axis G′ at the RCM. The pitch assembly 156 maybe configured to operate the surgical instrument about the RCM withincreased ease, speed, and flexibility compared to other conventionalpitch assembly mechanisms.

In some variations, the pitch assembly 156 may include first and secondpitch links that are different lengths, where length is measured betweenpivoting points on the ends of a pitch link. For example, as shown inFIG. 1D, the first pitch link 156 a may be shorter than the second pitchlink 156 b. For example, in some variations, the first pitch link 156 amay have a length (as measured between pivot points) that is betweenabout 10% and about 80% of the length of the second pitch link 156 b (asmeasured between pivot points). In some variations, the first pitch linklength may be between about 20% and about 70% of the second pitch linklength, or between about 25% and about 65% of the second pitch linklength. For example, the first pitch link 156 a may rotate relative tothe second pitch link 156 b without physical interference and allow thepitch assembly 156 to collapse or fold down against itself into asmaller volume, or more compact configuration. Additionally, a shorterpitch link length may reduce the workspace volume required for the pitchassembly to operate, as a shorter pitch link will sweep a smaller volumethroughout its rotation. Such a configuration can, for example, beuseful for storage, transport, for reducing risk of collision betweenthe pitch assembly and the patient or surgical personnel, and/or forreducing risk of collision between the pitch assembly and other parts ofthe robotic arm, etc.

For example, in some variations, the pitch assembly may be part of afour-bar linkage moving as an imperfect parallelogram. For example, asshown in the schematic of FIG. 2A, the distance between pivot points onthe first pitch link 156 a may be a distance “A”, the distance betweenpivot points on the second pitch link 156 b may be a distance “B”, thedistance between a distal pivot point on the second pitch link 156 b andan RCM may be a distance “C”, and the distance along a virtual linkbetween the RCM and a proximal pivot point on the first pitch link 156 amay be a distance “D.” Distance “A” may be less than distance “C” suchthat the first link 156 a having effective length “A” and the rotationof the link having effective length “C” are not always parallel as thepitch assembly 156 and instrument driver 180 move.

Furthermore, as pitch assembly 156 shown in FIG. 2A moves, the RCM tendsto move slightly. For example, FIG. 2B illustrates a series of fourexemplary poses of the pitch assembly 156 that are the result of thefirst pitch link 156 a rotating at its proximal end around Axis G (asnoted in FIG. 1D, for example). As the pitch assembly moves throughposes “a” through “d” in FIG. 2B, the RCM travels instead of remainingcompletely stationary, due to the imperfect nature of the parallelogramformed in part by the pitch links. In some variations, movement of thefirst pitch link 156 a around Axis G may be limited due to the nature ofa surgical task being performed. For example, in one exemplaryvariation, the first pitch link 156 a may have a length (as measuredbetween pivot points, described above as distance “A”) between about 2inches and about 4 inches, and the second pitch link 156 b may have alength (as measured between pivot points, described above as distance“B”) between about 7 inches and about 9 inches. In this exemplaryvariation, when the arm and instrument driver are performing typicalsurgical tasks, the pitch range of motion in the seventh joint module134 g may, for example, generally be between about 10 degrees and about30 degrees. Under such exemplary conditions, the RCM in this exemplaryvariation may tend to travel between about 1 cm and about 3 cm. Itshould be understood that in other variations, the first and secondpitch links 156 a and 156 b may have other suitable lengths, and/or thepitch range of motion for surgical tasks being performed may vary, whichmay cause the RCM to travel less than about 1 cm or more than about 3cm. In some variations, the first arm segment (e.g., Cartesian armsegment) that is proximal to the pitch assembly may be controlled basedon a control algorithm that maintains the RCM point fixed orsubstantially fixed in space, thereby compensating for the movement ofthe RCM that would otherwise occur. Such control algorithms or controlmodes for compensating for a deviating RCM may, for example, be similarto those described herein for maintaining a virtual RCM.

In the exemplary variation shown in FIGS. 3A and 3B, the spherical pitchlinkage assembly 356 includes a series of pulleys and a series of bandsconnecting the pulleys that facilitate the four-bar linkage movement.First pitch link 356 a is coupled to the output shaft of a joint moduleactuator that drives rotation of first pitch link 356 a around Axis G,while second pitch link 356 b is rotationally coupled to the instrumentdriver. First pitch link 356 a includes a first pulley 310 coupled tothe housing of the joint module actuator and located generally at aproximal point of first pitch link 356 a, within an internal space offirst pitch link 356 a. First pitch link 356 a also includes a secondpulley 312 located generally at a distal point of first pitch link 356a, within the internal space of first pitch link 356 a. The secondpulley 312 is rigidly fixed to a proximal point of second pitch link 356b.

Additionally, second pitch link 356 b includes a third pulley 314located generally at a proximal point of second pitch link 356 b,mounted on and rigidly fixed to a shaft of first pitch link 356 a thatextends into an internal volume of second pitch link 356 b, such thatwhen first pitch link 356 a rotates, third pulley 314 rotatescorrespondingly. Second pitch link 356 b also includes a fourth pulley316 located generally at a distal point of second pitch link 356 b,within the internal space of second pitch link 356 b. The instrumentdriver is rotationally coupled to the distal point of second pitch link356 b and thus constrained to move when the fourth pulley 316 rotates.

At least one band (not shown in FIGS. 3A and 3B) wraps around the firstand second pulleys such that when a joint module drives rotation offirst pitch link 356 a around Axis G, the orientation of the secondpitch link 356 b remains fixed relative to the orientation of thehousing of the joint module actuator. Similarly, at least one band (notshown) wraps around the third and fourth pulleys such that when thesecond pitch link 356 b rotates, the instrument driver orientationremains fixed relative to the orientation of the first pitch link 356 a.In sum, rotation of the first pitch link 356 a around Axis G istransformed through the system of pitch links, pulleys, and bands intorotation of the instrument driver around Axis G′. In alternativeembodiments, the pulleys may be engaged with cables, belts, and/or othersuitable driving members.

The bands connecting the first and second pulleys 310 and 312, and thethird and fourth pulleys 314 and 316, should be appropriately tensionedin order to facilitate the transformation of rotational motion describedabove. Accordingly, the pitch assembly 356 may further include atensioning assembly. For example, the tensioning assembly can include atleast one tensioner pulley located in plane with the first and secondpulleys 310 and 312 and corresponding bands, and at least one tensionerpulley located in plane with the third and fourth pulleys 314 and 316and corresponding bands. The in-plane locations of the tensioningpulleys may be adjusted and set (e.g., with fasteners) in order tocalibrate the tension of the bands. However, the pitch assembly 356 mayinclude a turnbuckle, or any suitable tensioning assembly. The bands maybe tensioned to a predetermined tension level during assembly of thepitch assembly, and monitored and re-tensioned during and over thecourse of use of the robotic arm. Alternatively, at least a portion ofthe pitch assembly may be swappable to be replaced withappropriately-tensioned pitch assembly parts, such as part of regularmaintenance.

Exemplary variations of pulley arrangements (e.g., assemblies forattachment of a driving member to a pulley, tensioning mechanisms, etc.)for the pitch assembly in a robotic arm are further described in detailin U.S. patent application Ser. No. 15/706,582 filed concurrentlyherewith and titled “BELT TERMINATION AND TENSIONING IN A PULLEYARRANGEMENT FOR A ROBOTIC ARM”, which is hereby incorporated in itsentirety by this reference.

The instrument driver 180 may be configured to orient the surgicalinstrument within cannula 190, along instrument Axis H shown in FIG. 1C.The instrument driver 180 can, for instance, enable rotation of theinstrument around Axis H and translation along Axis H, thereby providingtwo additional DOFs. An alternative way of expressing a two DOF ofredundancy may be to include the rotation of the instrument shaft aroundAxis H (a DOF residing in the instrument driver) with the seven DOF fromthe first and second arm segments for a total of eight DOF for therobotic arm including the instrument driver, then consider the purposeof the robotic arm to position a vector (the surgical instrument) inspace as a six DOF task. Therefore, the eight DOF available to performsuch a six DOF task results in two redundant degrees of freedom. Theintersection of the spherical roll Axis F, offset pitch Axis G′, and theinstrument axis H defines the mechanical remote center of motion (“RCM”)for the surgical instrument within cannula 190. Generally, themechanical RCM may closely coincide with the port placement for thesurgical instrument (e.g., cannula 190 couples to the port).

In another variation, as shown in FIG. 4, at least some of therotational axes of the second arm segment (spherical arm) do notintersect at a common point, in contrast to the variation shown in FIGS.1D and 1E. Rather, the links in the spherical arm may be configured suchthat Axis F (a spherical roll axis about which the spherical roll link454 rotates), Axis G′ (a spherical pitch axis, about which motion isremotely controlled by the joint module 434 g with pitch links 456 a and456 b), and Axis H (an instrument rotational axis about which theinstrument driver 480 axially rotates the instrument) generally meet ina common region but are offset from one another by a predetermineddistance (e.g., between about 1-5 centimeters, or between about 2-4centimeters, or about 3 centimeters). In some variations, the instrumentaxis (Axis H) may intersect at an RCM, while the roll axis (Axis F)and/or the pitch axis (Axis G′) does not intersect the RCM. For example,the roll axis and/or the pitch axis may be offset by about 5 centimetersor less from the remote center of motion, or about 2 centimeters or lessfrom the remote center of motion. Various lengths of the arm links maybe adjusted to accomplish this offset (e.g., shorter first pitch link456 a).

For example, to move the surgical instrument about the same point in 3Dspace as if that point were a mechanical RCM, a control algorithm forthe arm calculates suitable actuation of some or all joints in the arm(including in the first segment, or Cartesian arm) during commandedmotions of the instrument, in order to compensate for the axis offsets.For example, in some variations, the offset between a roll axis (Axis F)and an instrument axis (Axis H) may be about 2 centimeters. If thespherical roll link 454 rotates around the roll axis about 90 degreesclockwise as viewed in FIG. 4, the first segment with joints J1-J5(e.g., Cartesian arm as described above) may collectively move totranslate the spherical roll link 454 along an arc with an endpointabout 2 cm up and about 2 cm to the right (as viewed from theperspective of FIG. 4) in order to compensate for the axis offsets andmaintain the same effective RCM. Specific rotational movements of eachjoint J1-J5 may depend on the specific pose of the robotic arm at thetime of such motion.

In some areas, the control algorithm for compensating for the offsetsmay be similar to that implemented in the virtual RCM control modedescribed in further detail below. Accordingly, a compact arm design maybe achieved without sacrificing the ability to maintain desired arcuaterange of motion about an effective RCM during teleoperation. One benefitof a robotic arm that embodies these offset spherical roll, sphericalpitch, and/or instrument rotation axes is that the robotic arm may beconfigured to more compactly collapse into a folded configuration. Sucha compact configuration may be desirable, for example, for efficientstorage under the patient table (or in another suitable storagelocation, such as in a mobile cart), such that the robotic arm does notimpede or otherwise limit the range of motion (e.g., tilting) of thetable, nor obstruct imaging fields of view (e.g., medical imaging suchas CT scans). Additionally, as described above, in a robotic armarrangement in which at least one of a spherical roll axis, a sphericalpitch axis, and an instrument rotation axis is offset, a reducedworkspace volume may be required for the pitch assembly to operate, as ashorter pitch link will sweep a smaller volume throughout its rotation.

In some variations, as shown in FIGS. 5A-5C, a robotic arm 500 mayinclude a first segment 510 having a proximal end and a distal end, asecond segment 550 having a proximal end that is coupled to the distalend of the first segment 510 and further has a distal end, and aninstrument driver 580 coupled to the distal end of the second segment550 and configured to hold and actuate a surgical instrument passingthrough a cannula. The first and second segments 510 and 550 maygenerally be similar to first and second segments 110 and 150 describedabove, with elements numbered similarly to that shown in FIGS. 1A-1C,except as described below. For example, similar to the robotic armdescribed above with reference to FIGS. 1A-1C, the first segment 510 mayinclude a plurality of links providing at least five degrees of freedom,and the second segment 550 may include a plurality of links providing atleast two degrees of freedom.

The first segment 510 may be configured to move the location of aworkspace within which the second segment 520 moves. Furthermore, in thevariation shown in FIG. 5A, at least some of the longitudinal axes ofthe first segment 510 may be offset from the joints between adjacentlinks. For example, the longitudinal axis of the shoulder roll link 516and/or the longitudinal axis of the elbow link 518 may be laterallyoffset from the center of joint J3 (e.g., elbow joint). This lateraloffset may, for example, enable the shoulder roll link 516 and the elbowlink 518 to fold against each other more compactly. A suitable lateraloffset may be, for example, a distance to about a quarter of thediameter (or about half the radius) of the link. Similarly, lateraloffsets of other links in the robotic arm relative to adjacent joint(s)may be included to further enable a compact, folded configuration of therobotic arm.

As shown in FIGS. 5B and 5C, the second segment of the robotic arm 500may include a spherical base link 552, a spherical roll link 554 coupledto the spherical base link 552, a first pitch link 556 a having aproximal end coupled to a distal end of the spherical roll link 554, anda second pitch link 556 b having a proximal end coupled to a distal endof the first pitch link 556 a.

The spherical roll link 554 may include a proximal portion 554 a and adistal portion 554 b coupled to the proximal portion 554 a. As shown inFIGS. 5A-5C, the proximal and distal portions 554 a and 554 b of thespherical roll link 554 may be generally cylindrical and aligned alongrespective longitudinal axes. The proximal and distal portions 554 a and554 b may have similar diameters. However, in other variations theproximal and distal portions 554 a and 554 b may have any suitable shape(e.g., prismatic, irregular, etc.). The proximal portion 554 a and thedistal portion 554 b may be integrally formed (e.g., through injectionmolding, machining from a common piece, etc.) or may separately formedand coupled to one another (e.g., via fasteners, welding, or otherjoining). A bridge portion or the connecting feature may facilitatetranslational and/or angular offsets between the proximal and distalportions 554 a and 554 b, as described below.

The proximal portion 554 a may be oriented along a roll axis of thespherical roll link 554, such that rotation of the proximal portion 554a relative to the spherical base link 552 provides motion of theinstrument driver 580 around a spherical roll axis (e.g., similar toAxis F shown in FIG. 1C). The distal portion 554 b of the spherical rolllink 554 may be oriented along a remote angled axis (e.g., similar toAxis G shown in FIG. 1C) that is correlated to a pitch axis (e.g.,similar to Axis G′), where the angled axis is in a different plane thanthe spherical roll axis. For example, the remote angled axis may be anaxis around which a parallelogram (formed at least in part by the firstand second pitch links 556 a and 556 b) moves. In the robotic arm 500pictured in FIGS. 5A-5C, the distal portion 554 b (and its remote angledaxis) is neither orthogonal nor parallel to the proximal portion 554 a(and its spherical roll axis).

In some variations, the proximal portion 554 a and the distal portion554 b may be offset in one or more directions (e.g., at least twodirections). For example, the distal portion 554 b may betranslationally offset in a first direction from the proximal portion554 a (e.g., as shown in the side view perspective shown in FIG. 5A).The translational offset in the first direction (e.g., as measuredbetween the longitudinal axes of the proximal portion 554 a and thedistal portion 554 b) may be, for example, between about 1 and about 2times the diameter of the proximal portion 554 a or the distal portion554 b, between about 1 and about 1.75 times the diameter of the proximalportion 554 a or the distal portion 554 b, or between about 1 and about1.5 times the diameter of the proximal portion 554 a or the distalportion 554 b.

Additionally or alternatively, the distal portion 554 b may be angularlyoffset in a second direction from the proximal portion 554 a (e.g., asshown in the top view perspective shown in FIG. 5B and the front viewperspective shown in FIG. 5C). For example, the angular offset betweenthe longitudinal axis of the proximal portion 554 a (e.g., sphericalroll axis) and the longitudinal axis of the distal portion 554 b (e.g.,remote angled axis) may be an obtuse angle. As measured from a top viewperspective (e.g., as shown in FIG. 5B), the angular offset in theproximal and distal portions of the spherical roll link may be, forexample, between about 90 degrees and about 135 degrees, between about90 degrees and about 125 degrees, or between about 90 degrees and about105 degrees, etc. As measured from a front view perspective (e.g., asshown in FIG. 5C), the angular offset in the proximal and distalportions of the spherical roll link may be, for example, between about90 degrees and about 135 degrees, between about 90 degrees and about 125degrees, or between about 90 and about 105 degrees, etc. Accordingly, inthe robotic arm 500 pictured in FIGS. 5A-5C, the non-orthogonality ofthe spherical roll axis and the remote angled axis of the distal portion554 b is achieved by translationally offset and angularly offsetportions of the spherical roll link.

Alternatively, in some variations, the spherical roll link 554 itselfmay be oriented only along a spherical roll axis. In these variations,the first pitch link 556 a may include a lateral angled projectioncoupled to the spherical roll link 554 in order to achieve its rotationaround an angled remote axis. Additionally or alternatively in thesevariations, the first pitch link 556 a may be coupled to the sphericalroll link 554 via any suitable angled coupling (e.g., directly to aportion similar to proximal portion 554 a of the spherical roll link).Accordingly, in these variations, the non-orthogonality of the sphericalroll axis and the remote angled axis may be achieved by translationallyoffset and angularly offset coupled portions of the spherical roll link554 and the first pitch link 556 a.

The first pitch link 556 a may be rotatable within a first plane, andthe second pitch link 556 b may be rotatable within a second plane. Forexample, the first and second planes may be generally offset andparallel to one another. The first and second pitch links 556 a and 556b may generally be similar to the pitch assembly 156 described above.The instrument driver 580 may be coupled to a distal end of the secondpitch link 556 b such that the instrument driver is not parallel to atleast one of the first and second planes (e.g., offset from aparallelogram formed at least in part by the first and second pitchlinks) and/or not parallel to at least a portion of the spherical rolllink 554 (e.g., offset from the spherical roll axis).

One effect of non-orthogonality of the spherical roll axis (e.g., of atleast the proximal portion 554 a of the spherical roll link) and theremote angled axis (e.g., of the distal portion 554 b of the sphericalroll link) is that at least a portion of the pitch assembly may beangled relative to at least a portion of the spherical roll link 554(e.g., a parallelogram formed at least in part by the first and secondpitch links may be angularly offset from the roll axis). Accordingly,space between the pitch assembly and the spherical roll link 554 may beprovided to enable another portion of the robotic arm and instrumentassembly to nestle and further collapse into a more compact space. Forexample, as shown in FIGS. 5A-5C, at least the second segment 550 of therobotic arm 500 may be foldable into a compact configuration in whichthe instrument driver 580 is positioned between the spherical roll link554 and at least one of the pitch links 556 a and 556 b, such as whenthe pitch links 556 a and 556 b are folded against each other andagainst the spherical roll link 554. Accordingly, the second segment 550of the robotic arm may have a greater range of motion throughout foldedand unfolded configurations made possible without physical interferencebetween adjacent links, thereby providing for greater dexterity.Additionally, the offset nature of the spherical roll link, the pitchassembly, and the instrument driver may increase the robotic arm'sgeneral ability to fold into smaller volume, such as for storage and/ortransport purposes.

In some variations, some or all of the links may include bumpers thatmay help protect portions of the robotic arm from damage in the event ofcollision with other links, other joint modules, other robotic arms,surgical assistants or other users, other surgical equipment (e.g.,surgical table), and/or other nearby obstacles. The bumpers mayadditionally or alternatively help protect the robotic arm from damageduring packaging and transport. In one embodiment, a bumper may includeone or more flexible plates (e.g., thin metal sheets) covering a link,where the plate flexes and absorbs energy upon impact, thereby reducingimpact energy transferred to underlying components. In otherembodiments, the bumpers may include foam, rubber, inflatable sleeves orother coverings. The bumpers may substantially cover the entire lengthof the robotic arm, or may cover only selected portions of the roboticarm (e.g., selected links, joint modules). For example, one or morebumpers may cover only part of or the entire length of the sphericalsegment of the arm, only part of or the entire length of the Cartesiansegment of the arm, or a portion of the Cartesian segment and a portionof the spherical segment. As another example, one or more bumpers maycover only some or all of the joint modules in the robotic arm. As yetanother example, a bumper may substantially surround a portion of thearm (e.g., circumferentially around the arm) or may cover only part ofthe circumference of the arm (e.g., a sleeve with an arcuatecross-section). Some or all of the bumpers may be connected to sensors(e.g., pressure sensors, capacitive sensors, etc.) so that the roboticarm can sense occurrence of collisions and/or close approximation toobjects in the environment (e.g., other robotic arms, table fixtures,personnel, etc.). Upon detection of a collision or an impendingcollision, a control system may automatically adjust control of the armto halt motion in the current direction and/or move in a differentdirection to reverse or avoid collision.

Generally, each link may include an internal volume for receiving atleast one joint module, and/or for passing wiring (e.g., forcommunication or power) along the length of the robotic arm. Forinstance, the links may be generally tubular structures. Links may bemade of metal (e.g., aluminum, steel, etc.) or other suitable rigidmaterial, and may include parts that are machined, casted, molded,and/or formed through any suitable manufacturing process. Furthermore, alink may include multiple link parts (e.g., shell portions) that arewelded or otherwise fastened together to form a generally tubularstructure.

Arm Configurations

The various links in the robotic arm may be arranged in any number ofpredetermined configurations for different purposes. For instance, arobotic arm (e.g., a variation with offset axes for spherical roll,spherical pitch, and instrument rotation, as described above withreference to FIG. 1F) may be arranged in a compact, foldedconfiguration, such as for stowage under a surgical table, storage,and/or transport. The folded arm configuration may also incorporate thefolding, retraction, or other compact storage of components coupled tothe robotic arm, such as a table adapter coupling the robotic arm to asurgical patient table, cart, or other surface. FIGS. 6A and 6Billustrate an exemplary folded configuration of a robotic arm in moredetail (e.g., a variation without offset axes for spherical roll,spherical pitch, and instrument rotation, as described above withreference to FIGS. 1A and 1B). Shoulder pitch link 614 and shoulder rolllink 616 are coaxial to form a shoulder limb 615, and elbow link 618 andforearm link 620 are coaxial to form a forearm limb 619. In the foldedconfiguration, the shoulder limb 615 and the forearm limb 619 may foldtoward one another generally arranged in a first plane or “layer.” Thespherical base link 652 and spherical roll link 654 may fold against theforearm limb 619 such that the pitch assembly (pitch links 656 a and 656b) is generally arranged in a second plane or “layer.” The instrumentdriver 680 may be tucked between the first and second “layers.”

FIGS. 7A and 7B illustrate exemplary variations of robotic arms (similarto robotic arm 500 described above with reference to FIGS. 5A-5C)arranged in an exemplary folded configuration underneath a surgicalpatient table. This exemplary folded configuration may be used, forexample, for storage and/or transport purposes. Referring to robotic arm700A in FIG. 7B, in some variations, a robotic arm may include a baselink 712 configured to couple to a table T, such as with pins or othersuitable adapter. The base link 712 may, for example, couple to a columnsupport of the table T that grounds the table T to the floor. Therobotic arm may include a shoulder pitch link 714 coupled to the baselink 712, and a shoulder roll link 716 coaxial with and coupled to theshoulder pitch link 714. An elbow link 718 is pivotally coupled to theshoulder pitch link 714 such that a forearm portion of the robotic arm(including elbow link 718 and forearm link 720) is foldable against theshoulder portion (including shoulder pitch link 714 and shoulder rolllink 716) of the robotic arm. For example, the forearm portion of therobotic arm may be generally doubled-back on the shoulder portion of therobotic arm, with the shoulder portion and the forearm portion of therobotic arm generally located in the same plane or “layer.” As bestshown in FIG. 7A, the spherical base link 752 (which is coupled to theforearm link 720) may be oriented at an angle out of plane from theshoulder portion and the forearm portion. At least the rest of thespherical arm segment of the robotic arm, including the spherical rolllink 754 (which is coupled to the spherical base link 752), the firstpitch link 756 a, and the second pitch link 756 b, may arranged out ofplane from the shoulder portion and the forearm portion of the roboticarm. For example, at least a proximal portion of the spherical roll link754 may be coaxial with the spherical base link 752 to continue out ofplane from the more proximal portions of the robotic arm. The first andsecond pitch links 756 a and 756 b may be arranged below the plane ofthe shoulder and forearm portions of the robotic arm. The instrumentdriver 780 may be tucked or collapsed between the spherical roll linkand at least one of the first and second pitch links 756 a and 756 b, ina manner similar to the spherical arm segment configuration describedabove with reference to FIGS. 5A-5C. In some variations, for example,the stowage configuration of an arm shown in FIGS. 7A and 7B may occupya volume of generally between about 8 and about 12 inches high (alongthe vertical height of the table), between about 8 and about 12 incheswide (along the width of the table), and between about 18 and 22 incheslong (along the longitudinal length of the table). In one exemplaryvariations, for example, the stowage configuration of an arm may occupya volume of about 10 inches high, about 10 inches wide, and about 20inches long.

Although FIG. 7B depicts four robotic arms 700A, 700B, 700C, and 700Darranged in a 2×2 arrangement (i.e., so each robotic arm services or iscoupled to a respective quadrant of the table T), it should beunderstood that a robotic surgical system may include fewer (e.g., one,two, or three) or more (four, five, six, etc.) robotic arms arranged inany suitable manner. Furthermore, in some variations one or more of therobotic arms may be permanently coupled to the table, while in othervariations one or more of the robotic arms may be removably coupled tothe table. For example, at least part of the system may be modular, withone or more of the robotic arms selectively removable and/orrearrangeable). Exemplary variations of coupling mechanisms to couple arobotic arm to a patient table are described in further detail in U.S.patent application Ser. No. 15/706,112 filed concurrently herewith andtitled “LINKAGE MECHANISMS FOR MOUNTING ROBOTIC ARMS TO A SURGICALTABLE”, and U.S. patent application Ser. No. 15/706,087 filedconcurrently herewith and titled “TABLE ADAPTERS FOR MOUNTING ROBOTICARMS TO A SURGICAL TABLE”, each of which is incorporated in its entiretyby this reference.

During use in a surgical procedure, a robotic arm may facilitateinstrument reach in a wide variety of workspace regions by beingconfigurable in a range of poses. For example, the robotic arm may beconfigurable in a “low” (or “tucked”) arm position, a “high” armposition and a “flipped” arm position. Between the “low” arm position(or the “high” arm position) and the “flipped” arm position, theinstrument driver can revolve entirely around the arm such that theweight of the instrument driver may be supported by the arm fromdifferent directions. For instance, as shown in FIG. 8A, in a “low” armposition, the robotic arm 800 may support the instrument driver 880 frombelow the instrument driver (with the arm 800 located at the side ofand/or under the patient table or cart, or with at least some of theCartesian arm located below the base link. Similarly, in a “high” armposition, the robotic arm 800 may similarly support the instrumentdriver from below the instrument driver (but with the robotic armgenerally located above the patient table or cart). In the “low” and“high” arm positions, at least part of the robotic arm (e.g., at least aportion of the Cartesian arm) may be folded and/or positioned below thelevel of the patient, in order to position the arm below the instrumentdriver. As shown in FIG. 8B, in a “flipped” arm position, the roboticarm 800 may support the instrument driver 880 from above the instrumentdriver. In the “flipped” arm position, most of the robotic arm 800 maybe extended and/or positioned above the level of the patient, in orderto position the arm above the instrument driver. The robotic arm mayadditionally be positioned in other arm positions intermediate betweenthe “low” or “high” arm positions and the “flipped” arm position, toposition the instrument driver anywhere within a 360-degree revolutionaround the arm. Furthermore, in order to improve clearance of theinstrument driver relative to the arm, at least some of the arm links(including, for example, the shoulder pitch link, the shoulder rolllink, the elbow link, and the forearm link) may be curved. For instance,as shown in FIG. 1B, at least the elbow link 118 and forearm link 120may form a forearm link that has a concave surface, where the concavitygenerally faces the workspace of the instrument driver.

In some variations, the robotic arm may be configured in any of aplurality of template poses correlated with surgical procedure types.Different port placements (i.e., where surgical instruments may enterthe patient through a cannula) are generally preferred for differenttypes of laparoscopic procedures. For instance, a particular surgicalprocedure may require at least a first port in a specific location in alower right quadrant of the patient abdomen and a second port in anotherspecific location in an upper left quadrant of the patient abdomen.Additionally, there may be different locations around the patient wheresurgical assistants are best located to assist during the procedure(e.g., manipulate one or more robotic arms, monitor the patient). Atemplate for this procedure may include posing a first robotic arm in a“low” arm position to enable the first robotic arm to reach the firstport, and a posing a second robotic arm in a “high” arm position toenable the second robotic arm to reach the second port. The base linksof the first and second robotic arms may be mounted in suitablelocations around the patient table to accommodate the surgicalassistants. In other words, the collective arrangement and poses of therobotic arms may form a template configuration for a particular surgicalprocedure, which may be slightly customized or otherwise adjusted forparticular patients (e.g., adjusting for patient characteristics such asheight, girth, weight, sex, etc.). In some variations, template poses orother poses (e.g., “low” arm position, the “high” arm position, and/orthe “flipped” arm position), and the associated joint angular positionsin the arm, etc. may be stored in a memory device (e.g., hard drive) andrecalled from the memory device when desired to move the arm to a storedpose. Furthermore, in some variations, a particular pose may be achieved(e.g., by actuator control and/or manual movement of the robotic arm),and a set of joint angular positions in the arm that are associated withthe particular pose, may be stored to a memory device upon a user inputof a save command, etc. Such a stored pose may be recalled in the futureto reposition the arm.

Joint Modules

As described above, relative movement between adjacent arm links isgenerated by one or more joint modules. In some variations, a jointmodule may include a joint module including a servomotor or othersuitable motor. Generally, each joint module may include one motor, ormultiple motors (e.g., with a differential gear drive to combine theindividual motor outputs). Additionally, the actuator assemblies mayinclude a gearbox coupled to the motor output, such as a harmonic drive,planetary gearbox, cycloidal drive, etc. to increase overall torqueoutput. A joint module may further include at least one sensor (e.g.,encoders) that detects and provides feedback on the rotational positionof the actuator. Generally, a joint module is designed to be robust,lightweight, and compact, so as to contribute to a robotic arm that issimilarly robust, lightweight, and compact in view of physical spacerestrictions and medical device requirements. Additionally, the jointmodule may include at least one seal circumferential around the rotorshaft, which functions to retain lubrication inside the gearbox. Suchseals ideally have a low and consistent amount of friction on the rotorshaft, so as to not significantly interfere with the actuation by thejoint module.

In some variations, at least some of the joint modules may include amodule assembly having a first housing including a motor portion, asecond housing including a load (high-loaded) portion, and a thirdhousing including an electronics portion. The joint module may combinethe multiple housings in a modular manner that is simple to build andmaintain. For example, as shown in FIGS. 9A and 9B, a joint module 900includes a first housing with a motor portion 910, a second housingincluding a load portion 920 coupled to a first end of the motor portion910, and a third housing including an electronic portion 930 coupled toa second end of the motor portion 910. The third housing may furtherinclude a cover 940 configured to enclose the electronics within thethird housing. The various housings may be coupled to one another withremovable fasteners 952 (e.g., screws) that bind coupling features 954as shown in FIG. 9A, such that the fasteners 952 may be removed todisassemble the housings of the joint module, such as for maintenance.Alternatively, the housings may be coupled to one another with othersuitable mechanisms, such as mechanical locks or snaps. The assembly ofthe housings for the load portion, the motor portion, and theelectronics portion may further be enclosed in a module housing 940,which may be accessible by removable cover 942.

The motor portion 910 of the joint module may include various componentsassociated with the motor, such as a stator and a rotor (e.g., as in aservomotor), a safety brake (e.g., one of the variations describedbelow, or another suitable fail-safe brake), an encoder for measuringrotational position of the motor, bearings, etc. In embodiments in whichthe gearbox coupled to the motor output includes a harmonic drive, themotor portion 910 may include a harmonic drive wave generator. As shownin FIG. 9C, the motor portion 910 may be easily removable from the loadportion 920 (e.g., in a modular fashion). Additionally, at least oneseal may be present in the motor portion 910, such as a labyrinth sealthat retains lubrication via a tortuous passageway and is inherentlylow-friction by nature of being non-contact with the rotor.

As shown in FIG. 9B, the load portion 920 of the joint module mayinclude highly-loaded components, such as an output bearing, splinecomponents 922 of a harmonic drive (e.g., circular spline and flexspline) or other portions of a gearbox, mechanical joint limits forrestricting range of motion of the adjacent actuated links, etc. Othersuitable components following the direct output of the motor portion maybe included in the load portion 920 housing. As described above, theload portion 920 may be easily removable from the rest of the jointmodule.

As shown in FIG. 9D, the electronics portion 930 of the joint module mayinclude various electronics associated with and coupled to the motor.For example, the electronics portion 930 may include motor driversand/or signal processors on a circuit board 932, located at a rear endof the motor within the housing for electronics portion 930. Access tothe electronics may be achieved by disassembling at least part of themodule housing 940, such as by removing the rear cover 942 (e.g.,removing fasteners).

Though the various joint modules in the robotic arm may generally havethe same modular structure as shown in FIGS. 9A-9D, different jointmodules in the robotic arm may have different sizes (e.g., differentratings and dimensions of the motor) depending on the space limitationsand/or torque requirements at each joint in the robotic arm. To fitwithin an arm link or elsewhere in the robotic arm, the joint module mayhave a generally cylindrical profile so as to be sized within a suitablelink.

Safety Brakes

One or more of the joint modules may include a safety brake or fail-safebrake that halts movement of the joint module, as well as the arm linksconnected by the joint module, in the event of actuator failure. Forinstance, actuator failure may be caused by loss of power (e.g., due tocircuitry faults, failure of the main power supply), or loss ofelectrical current used to drive the actuators in the joint modules.Another example of a failure is discrepancy between the multiple encodersensors that are used to measure rotational position of the actuatoroutput or joint in a single joint module, which may indicate, forexample, possible slipping of a mechanical component. Since the roboticarm requires power to operate, any sudden loss of that power may resultin at least a portion of the robotic arm collapsing due to gravity orother external forces. Collapse of the robotic arm can result in injuryto the patient if the failure occurs during a surgical procedure, injuryto nearby operators of the robotic-assisted surgical system, damage tothe robotic arm or surgical instruments, and/or damage to othersurrounding equipment and surroundings. A fail-safe brake, which appliesa braking force to the actuator in the event of a failure, may helpreduce the undesirable consequences of actuator failure and/or othersystem fault.

In some variations, the safety brake may be configured to be overriddenmanually by a user, to enable movement of the robotic arm despite theactivation of the safety brake. For example, in an instance in whichsystem fault has occurred, the robotic arm may have to be removed fromthe operating field. However, such removal requires command control ofthe robotic arm (which may not be possible due to the system fault)and/or manual brute force (which may not be possible due to thefail-safe brakes locking the arm joints in place). Accordingly, therobotic arm may include mechanisms for overriding the safety brake. Forexample, the safety brake may be overpowered with manual force from auser, which may or may not be amplified with a gearbox or a mechanismfor increasing leverage, etc. In one variation, the robotic arm mayinclude an access panel (e.g., near one or more joint modules) thatprovides access, such as with a special tool or crank, for manuallyoverpowering the safety brake (e.g., by manually powering the rotor inthe joint module). Additionally or alternatively, the safety brake maybe disengaged such as with a button or handle, though in some variationsthe location of such disengaging mechanisms may be limited to locationswhere the user is likely to be able to manually prevent collapse of thearm (e.g., near the distal end, where the user need only support theweight of the instrument driver, etc.).

Preferably, a safety brake is lightweight, compact, and generatesrelatively little heat (or a low temperature) when activated andengaged. Generally, a safety brake has a “brake on” mode and a “brakeoff” mode. In some variations, the brake may be a biased brake (e.g.,spring-applied brake or permanent magnet brake) that is mechanicallybiased in the “brake on” mode and requires some force to maintain thebrake in the “brake off” mode, meaning that the “brake on” mode isengaged in the event of a power failure. In other variations, the brakemay be a bi-stable brake actuated by a secondary actuator that ispowered by a stored energy source (e.g., capacitor or battery). In theevent of power failure, the stored energy source quickly releases itsstored energy to the secondary actuator, which engages the “brake on”mode. Exemplary variations of fail-safe brakes are described below indetail.

Bi-Stable Brakes

As described above, a bi-stable brake is actuated by a secondaryactuator that is powered by a stored energy source (e.g., capacitor orbattery). One example of a secondary actuator is shown in FIGS. 10A-10G.As shown in FIG. 10A, an exemplary stepper and coil brake actuatorassembly for a bi-stable brake includes a magnet 1020 having a magneticfield, a driven element 1030 magnetically attracted to the magnet 1020,a coil 1040 configured to selectively cancel the magnetic field, and atleast one capacitor 1054 configured to activate the coil 1040 to cancelthe magnetic field. The magnet 1020 may, for example, include apermanent magnet with features (e.g., prongs) that can be suitablyinternal to the coil 1040 such that the coil 1040, when activated,cancels the magnetic field. The driven element 1030 may be made of asuitable magnetic material, such as iron.

The secondary actuator assembly may additionally include a stepper motor1010 or other suitable actuator driving a leadscrew 1012 with a nut 1014that travels on the leadscrew 1012 and engages the magnet 1020 (e.g.,with pins). A PCB 1050 or other electronics assembly may additionally beprovided for controlling and triggering the secondary assembly. The PCB1050 may, for example, include a driver for the stepper motor 1010, theone or more capacitors 1054 (e.g., tantalum capacitor, ceramiccapacitor, etc.) or one or more small batteries, at least one switchtransistor, status sensors 1056 a and/or 1056 b, status indicator LEDs,other control elements etc. Redundant elements on the PCB 1050, such asmultiple capacitors and/or multiple batteries (including a backupbattery) may be provided.

During normal or typical operation of a joint module, the secondaryactuator is as shown in FIG. 10C in a “brake off” mode. The coil 1040 isnot activated, thereby permitting the magnetic field from magnet 1020 tokeep driven element 1030 close (e.g., “parked” or locked by the passivemagnetic field). In this state, energy is stored in the one or morecapacitors 1804. A status sensor 1056 a may detect that the drivenelement is positioned according to a “brake off” mode. As shown in thecontrol schematic of FIG. 10B, the PCB 1050 may continually monitor andcompare the provided power (e.g., 24V or 48V) to a trigger thresholdlevel (e.g., 15V). Software may send a “brake off” command or signalperiodically with high frequency (e.g., every 1 millisecond) as long asthe monitored power is above the trigger threshold level. Additionallyor alternatively, the status sensors 1056 a and/or 1056 b may verifyposition of the stepper motor and status of brake actuation. Forexample, the status sensor 1056 a may be an opto-reflective or magneticsensor that detects whether the magnet 1020 (or nut 1014, etc.) is inthe position corresponding to the “brake off” mode.

A power failure may be indicated when the PCB 1050 fails to send the“brake off” command or signal because the system power is below thetrigger threshold level. In the event of an indicated power failure (oran intentional brake command), circuitry on the PCB 1050 automaticallytriggers the one or more capacitors 1054 to release their stored energy,such as passively through a switch transistor on the PCB, to activatethe coil 1040 which normally cancels the magnetic field. Once the coil1840 is activated, the driven element 1020 is freed from the magnet1020, as shown in FIG. 10D. The driven element 1020 may travel apredetermined distance (e.g., governed by a spring) to in turn actuate acomponent of the overall bi-stable brake.

The secondary actuator assembly may re-arm itself to return to theconfiguration shown in FIG. 10C. As shown in FIG. 10E, the stepper motor1010 may rotate the leadscrew 1012 to drive the nut 1014, the magnet1020 (which is engaged to the nut 1014 with pins or other suitableattachment mechanism), and/or coil 1040 distally toward the freed drivenelement 1020. Since at this point the coil has expended its energyreceived from the capacitors and no longer cancels the magnetic field,the magnetic field of magnet 1020 may be used to capture the drivenelement 1020 (FIG. 10F). As shown in FIG. 10G, the stepper motor 1010may then drive the leadscrew in a reverse direction to cause the nut1014, magnet 1020, driven element 1020, and coil 1040 to move back tothe “brake off” configuration. Alternatively, another suitablemechanical feature (e.g., spring) may be used to fetch the drivenelement 1020 and return it to the “brake off” configuration. Once thesecomponents are back in the “brake off” position, the status sensor 1056a, located near a proximal end of the lead screw, may verify presence(and/or status sensor 1056 b, located distally relative to the motor,may verify absence of the components) to confirm status of the brakesystem as in the “brake off” position.

One variation of a bi-stable safety brake, which may, for example, bepaired with the secondary actuator 1000 described above, is shown inFIGS. 11-13. As shown in FIG. 11A, a ratchet safety brake module 1100may be disposed in a joint module around rotor 1110, such as betweenencoders and control PCB boards in the joint module.

Referring to FIGS. 11B-11F, the driven element of secondary actuator1000 may be coupled to one end of a tension spring 1124, while the otherend of the tension spring 1124 may be coupled to a pin 1122. Pin 1122 isintegral with or coupled to a cam wheel or ring 1120 disposed within thesafety brake module 1100. The safety brake module 1100 may furtherinclude spring-biased and pivoting pawls 1130, which have rollers 1132articulating on an internal surface of the cam wheel 1120. Each of thepawls 1130 also includes a tip 1134 configured to engage a ratchet wheel1140. Ratchet wheel 1140 is disposed around the rotor 1110 via bearing1142. As shown in FIG. 11E, also disposed around the rotor is a pressurenut 1180 (a top plate or disc) which is threaded onto the rotor 1110.The pressure nut 1180 cooperates with ratchet wheel 1140 to compress astack including a friction pad 1150, an intermediate pressure plate1160, and a wave spring 1170. The degree of this compression iscorrelated with brake force, which is tunable during assembly by theposition of the top plate 1162 along the rotor shaft. As shown best inFIG. 11F, the pressure plate 1160 includes keys 1162 that engagelongitudinal grooves on the rotor shaft.

The safety brake module 1100 in a “brake off” mode is shown in FIGS.12A-12C. As with other bi-stable brakes, no power is needed to hold thisstate. The secondary actuator 1000 engages a magnetic latch, such thatthe driven element in the secondary actuator 1000 is held magneticallyto magnet 1020, thereby allowing the pin 1122 (attached to the drivenelement via spring 1124) and the cam wheel 1120 to maintain a “brakeoff” position. In this position, the rollers 1132 of pivoting pawls 1130articulate with lobes on the internal surface of the cam wheel 1120,thereby keeping the pawl tips 1134 disengaged from the ratchet wheel1140.

The safety brake module 1100 in a “brake on” mode is shown in FIGS.13A-13D. In the event of power loss, the secondary actuator 1000disengages the magnetic latch (as the driven element is released) andthe spring 1124 abruptly pulls the cam wheel 1120 in rotation (in acounter-clockwise direction as shown in FIG. 13B). The spring-loadedpawl rollers 1132 articulate away from the lobes on the internal surfaceof the cam wheel 1120, thereby allowing the pawl tips 1134 to engage andstop rotation of the ratchet wheel 1140. When the ratchet wheel 1140stops, the friction pad 1150 (located between the ratchet wheel 1140 andthe pressure plate 1160) drags on the pressure plate 1160 to stop. Sincethe rotor is engaged with the axial keys 1162 on the pressure plate1160, the rotor drags to a stop along with the pressure plate 1160,thereby halting the rotor and all actuation provided by the jointmodule. In this “brake on” mode, the safety brake assembly acts as asingle setting clutch. No power is required to keep the brake in this“brake on” mode.

Subsequently, the safety brake module 1100 may be deactivated andreturned to the “brake off” state. As described above with respect toFIGS. 10E-10G, the secondary actuator may be re-armed such that themagnetic latch is re-engaged. Re-engagement of the magnetic latch causesthe cam wheel 1120 to rotate (in a clock-wise direction, opposite thatdepicted in FIG. 13B) and the pawls to pivot and disengage their tips1134 from the ratchet wheel 1140. With the pawls disengaged from theratchet wheel 1140, the ratchet wheel 1140 is free to rotate with therotor on the bearing 1142. Again, no power is required to hold this“brake off” mode.

In another variation of a bi-stable safety brake, which may, forexample, be paired with one or more instances of the secondary actuator1000 described above, is shown in FIGS. 14A-14C. As shown in FIG. 14A,joint module 1400 may include a motor portion 1410 with motor housing1412, and a brake portion 1420 with a brake housing 1422. As shown inFIG. 14B, the motor portion 1410 includes a rotor 1414 that spins and astator 1416 that remains stationary. Disposed around the rotor 1414 aretwo instances of a ratchet brake assembly similar to that describedabove with respect to FIGS. 12A-12C and 13A-13D. A first ratchet brakeassembly 1430 may function as an arresting brake with high torque, whilea second ratchet brake assembly 1440 may function as a clutch brakeassembly with a low torque (lower than that for the first ratchet brakeassembly 1430).

In the event of a power failure or system fault, the first ratchet brakeassembly 1430 may engage its respective friction pad and cause the rotorto stop, as described above. Additionally, the second ratchet brakeassembly 1440 may further engage its respective friction pad and providesupplemental force (to cooperate with the first ratchet brake assembly1430 to stop the rotor, or to help maintain the static position of therotor after it is already stopped). If the rotor needs to be movableafter the first ratchet brake assembly stops the rotor (e.g., formanually reposing the robotic arm, backdriving, etc.), the first ratchetbrake assembly 1430 may disengage from the stopped rotor (e.g.,deactivating and re-engaging its magnetic latch), leaving the secondratchet brake assembly 1440 engaged. Since the second ratchet brakeassembly 1440 has a lower torque, it may be overcome with manual force.Furthermore, although FIGS. 14B and 14C depict the second ratchet brakeassembly (clutch brake) as being more distal relative to the rotor thanthe first ratchet brake assembly (arresting brake), alternatively thefirst ratchet brake assembly (arresting brake) may be more distal thanthe second ratchet brake assembly (clutch brake).

FIGS. 15A-15F illustrate another variation of a safety brake, which maybe a bi-stable brake. In this variation, the safety brake 1500 mayinclude at least one brake band arranged around the rotor of a motor. Inthe event of a power loss or other similar failure, the secondaryactuator induces tightening of the brake bands, thereby causing thebrake be in the “brake on” mode in which it provides a clamping forceonto the rotor that frictionally stops the rotor from moving.Additionally, the brake band may be actuated by intentionally commandingthe secondary actuator to release the brake band into the “brake on”mode. Alternatively, the brake 1500 may be a biased brake that is biasedtoward the “brake on” mode, where the brake 1500 actively requires powerto maintain the brake in the “brake off” mode.

As shown in FIG. 15A, the safety brake 1500 includes one or more brakebands 1530 wrapped around or otherwise encircling the rotor 1514. Thebrake bands may be, for example, steel or other material with suitablyhigh tensile strength (or alternatively, rubber or other elastomer whichhas high friction). In some variations, the joint module may includeadditional brake bands (e.g., third and fourth brake bands). As shown inFIGS. 15C and 15D, the bands are wrapped more than one fullcircumferential distance around the rotor, with each end connected to aband connector block 1564 a or 1564 b, such that when band connectorblocks 1564 a and 1564 b are urged apart, the wrapped loop around therotor tightens. This wrapping configuration permits the brake to havesignificant torque for stopping the rotor (even if the bands are made ofa material with a low coefficient of friction), as a result of a“capstan” effect which is exponentially dependent on the total angle ofwrap, thereby resulting in low force requirements for the secondaryactuator as well as low friction requirements. For instance, theresulting braking torque may be governed by the capstan equationT_(load)=T_(hold)*e^(μφ) where T_(load) is the tension applied on theband, T_(hold) is the resulting force exerted at the other end of therotor, μ is the coefficient of friction between the band and the rotor,and φ is the total angle swept by all turns of the band around the rotor(measured in radians).

The switching between the “brake on” and “brake off” modes is controlledby the secondary actuator 1550. For instance, the secondary actuator1550 may include a bipolar stepper motor. The stepper motor may drive alead screw, which causes the actuator nut 1560 to move linearly in adirection orthogonal to the plane of the brake bands 1530 and 1540. Theactuator nut 1560 is coupled to the flex linkage 1562, which isconfigured to pull together and push apart the band connector blocks1564 a and 1564 b. As shown in FIG. 15E, when the secondary actuator1550 actively pushes forward the actuator nut 1550 and causes flexlinkage 1562 to pull together the band connector blocks 1564 a and 1564b, the brake bands are radially expanded in the “brake off” mode. Incontrast, as shown in FIG. 15F, when the secondary actuator 1550 pullsback the actuator nut 1550, the flex linkage 1562 pushes apart the bandconnector blocks and the brake bands tighten in the “brake on” mode.Furthermore, the secondary actuator assembly may include a torsionspring 1570 configured to urge or somewhat bias the actuator nut 1550toward the configuration for the “brake on” mode. Accordingly, theenergy required to engage of the brake is in part provided by thetorsion spring 1570, and compared to the torque needed to disengage thebrake, the stepper motor can be driven with lower torque (and at higherspeed, for quicker reaction to power loss or system failure) to engagethe brake.

The secondary actuator 1550 may be controlled by a PCB 1570 as shown inFIG. 15B, where the PCB 1570 may include various electronic componentssuch as a microprocessor for generating the stepper motor drivingsignals, a motor driver integrated circuit, and at least one backupbattery (e.g., lithium ion) for powering actuation of the stepper motorin the event of system power failure. The backup battery may beautomatically charged while the robotic arm system is powered, such thatthe backup battery always has some power in the event of robotic armsystem loss. Driving signals sent to the stepper motor may cause thestepper motor to rotate in one direction (corresponding to “brake off”)or the opposite direction (corresponding to “brake on”). For instance,in one exemplary embodiment as illustrated with the aid of FIGS. 15G and15H, the PCB 1570 may be designed such that upon a system power loss(e.g., system power of about 24V suddenly drops to about zero), thebackup battery automatically causes the power supply line to thesecondary actuator to jump to a threshold power level (e.g., from about4.8V to about 5V), thereby automatically triggering actuation to the“brake on” mode. Upon a system power restoration (e.g., system powersupply is again about 24V), the secondary actuator may then disengagethe brake. In some variations, before disengaging the brake, thesecondary actuator may wait for a delay time (e.g., some number ofmilliseconds), which may allow the joint module actuator drivers tore-take control. Additionally or alternatively, the PCB 1570 may have aswitch input to activate, on command, the “brake on” or “brake on”actions. Additionally or alternatively, the PCB 1570 may further includeelectronics for monitoring power supply and comparing power to a triggerthreshold, similar to that described above with respect to secondaryactuator 1000.

Touchpoints and Other User Interface Elements

In some variations, as shown in FIGS. 16A-16C, the robotic arm mayinclude a number of “touchpoints” which are regions of the armconfigured to receive specific user interactions. A touchpoint may be inelectrical communication with a control system that receives commandsreceived at the touchpoint and provides actuation to one or more jointmodules (and/or outputs other suitable commands) based on the receivedtouchpoint commands. Additionally or alternatively, a touchpoint may bedirectly coupled a portion of the robotic arm for controlling an aspectof that arm (e.g., in direct communication with a joint module actuatorfor controlling the associated joint). For example, at least one of therobotic arm links may include a directional pad (e.g., cross-shapedD-pad, set of up-down-left-right buttons, etc.), which may be used, forexample, for controlling desired arm movements when the robotic arm isoperating in the repositioning mode (described further below). Otherfeatures, such as a handle, joystick, straps, a button switch, acapacitive sensor (e.g., tilting capacitive sensor, capacitive scroll,etc.), a mechanical scroll, a pressure sensor, force resistive sensor,and/or camera, etc. may additionally or alternatively be used to provideuser interaction points for manually manipulating the robotic arm. Forexample, as shown in FIGS. 16A and 16B, the robotic arm may include amodule 1610 for capacitive sensing, pressure sensing, and/or forcesensing. As another example, as shown in FIG. 16C, the robotic arm mayinclude a tilting dish-style cap 1620. In other variations, one or moreof the touchpoints for manipulating the robotic arm may be locatedelsewhere in the system, such as a button on the instrument driver.

One or more touchpoints may be configured to receive manual inputindicating user selection of a particular control mode (e.g., any of thecontrol modes described further below). In some variations, a forceresistive sensor may also offer positional information, such that acontrol mode may be toggled on/off in relation to location and/ororientation of the force. Additionally or alternatively, other forceand/or torque sensors may be used to prove information to supplementinputs into the touchpoint control mechanisms. The user manipulation ofthese touchpoints may result in either an analog signal or digitalsignal (a threshold value may be defined in order to identify whether ananalog signal represents an affirmative selection or input).

Different timing and combinations of manipulations of the touchpointsmay be implemented. For example, one or more control modes may beselected upon a “press and hold” interaction (e.g., the control modelasts as long as a pressure sensor or capacitive sensor detectssufficient force or presence of user contact on the touchpoint). Asanother example, one or more control modes may be selected and/orsubsequently deselected upon a single contact or sufficient force (orcontact lasting a predetermined threshold duration or force above apredetermined threshold of force).

Additionally, the robotic arm may include a number of electronicsconfigured to provide the user with information about the robotic armand/or instrument driver. For example, the robotic arm may include aspeaker that provides auditory indications of operational status of thearm and/or instrument driver. As another example, the robotic arm mayinclude one or more indicator lights (e.g., LEDs) on at least one of therobotic arm links. The indicator lights may communicate informationthrough color and/or frequency or duration of illumination (e.g.,blinking frequency). Such information may include, for example, controlmodes, control states, system fault, achievement or approximation of armjoint limits, directions, collision resolution, instrument change,instrument lifetime, instrument type, etc. For instance, a singleindicator light may be green to indicate normal operational status, oryellow or red to indicate faults or other errors. As another example,some or all of the indicator lights may be illuminated in a particularcolor pattern to indicate instrument type (e.g., FIG. 17B).Additionally, the lighting pattern of a set of multiple indicator lightsmay communicate a code correlated to a specific kind of error (e.g., anon-off-on-on lighting pattern across four lights, such as that shown inFIG. 17C, may communicate a particular fault). The indicator lights mayadditionally or alternatively communicate information about other partsof the robotic-assisted surgical system. In one exemplary embodimentshown in FIGS. 17A-17C, the indicator lights may be part of a lightmodule that communicates with users. As shown in FIG. 17A, the lightring module may include a plurality of LEDs (e.g., arranged in a ring,strip or other suitable pattern on a mount 1710), a light pipe bezel1720 disposed over the plurality of LEDs to evenly diffuse light, and amicrocontroller (e.g., on PCB) for controlling the illuminationthroughout the plurality of LEDs. Other lighting elements (e.g., laserdiodes, etc.) may additionally or alternatively be included in the lightmodule. The light pipe bezel may sit in a housing 1730 for an arm link,a portion of the instrument driver, or any other suitable location on ornear the robotic arm. The light pipe bezel may, for example, includeacrylic or any suitable light dissipating or propagating material. Insome variations, a touchpoint, such as a joystick or button, may bepositioned near the light module.

As another example, as shown in FIG. 16D, the robotic arm may include adisplay screen 1630 configured to textually and/or graphically displayoperational status, faults, other errors, and/or other suitableinformation. The indicator electronics may be mounted, for example, onthe forearm link (or between the joint modules 134 e and 134 f shown inFIG. 1C), which may be a location at which the indicator electronics istypically at least partially visible to a user standing patient-side(e.g., next to a surgical table). In some variations, the display screenmay include a touchscreen that is receptive to user input through a userinterface (e.g., a GUI with menus, buttons, sliders, and/or othersuitable controls for operating the robotic arm). The display screen mayinclude any suitable screen, such as an LCD and/or capacitive touchscreen.

Furthermore, as shown in FIG. 1D, the robotic arm may include a finepositioning clutch 170, which, when engaged, is configured tosubstantially restrict or lock (or substantially restrict deviationfrom) at least a portion of the pose of the second arm segment 150(spherical arm segment) while enabling the joint modules of the firstarm segment 110 (Cartesian arm segment) to move. Restricting at least aportion of the pose of the second arm segment 150 may be accomplished,for instance, by sending current commands to some or all of the jointmodules in the second arm segment 150 that maintain their respectiverotational positions, even if the entire second arm segment 150 isrelocated as a whole by reposing the first arm segment 110. Thisfunctionality may be useful, for example, while docking the robotic armto the cannula located in a port in the patient, so as to provide a finepositioning capability (i.e., facilitating small movements of the arm inresponse to user positioning guidance). In one exemplary embodiment,when the fine positioning clutch 170 is engaged, only the seventh jointmodule 134 g in the spherical arm is substantially restricted (e.g.,limited to movement within 10 degrees, within 5 degrees, or within 2degrees, etc. in one or both directions relative to a reference lockingposition corresponding to when the clutch 170 is engaged) or locked(e.g., limited to substantially no movement relative to the referencelocking position), while the other joint modules in the arm (e.g.,first, second, third, fourth, fifth, and sixth joint modules) may beactuated to move without restriction. In another exemplary embodiment,when the fine positioning clutch 170 is engaged, both the sixth jointmodule 134 f and/or seventh joint module 134 g are substantiallyrestricted or locked, while the joint modules in the first arm segment110 may be actuated to move without restriction. Other combinations ofrestricted and/or locked joint modules and movable joint modules may bepossible upon engagement of the fine positioning clutch. In somevariations, the fine positioning clutch 170 may be located on the secondarm segment 150, such as on the pitch linkage assembly 156 or anothersuitable location near the instrument driver, where the fine positioningclutch 170 may be easily accessible by a user standing near the port inthe patient.

The fine positioning clutch 170 may include any suitable mechanism. Forexample, any of the touchpoints described above may operate as a finepositioning clutch. In some control modes of the robotic arm, the finepositioning clutch 170 may be biased toward the “disengage” mode so asto enable changing the pose of the entire robotic arm by default, and torestrict movement of the spherical arm only if the fine positioningclutch 170 is engaged. Additionally or alternatively, in some controlmodes such as in one variation of a docking mode, the fine positioningclutch 170 may be biased toward the “engage” mode so as to enablechanging the pose of only the first arm segment 110 unless the finepositioning clutch 170 is disengaged. Furthermore, in some variations,the robotic arm 100 may include one or more other clutches thatsimilarly lock one set of links in the current pose while enablingrelative movement among another set of links, in any suitablecombination.

Controller

A robotic-assisted surgical system may include a control system thatgoverns actions of the robotic arm (or multiple robotic arms, if therobotic-assisted surgical system includes more than one robotic arm). Asshown in FIG. 18, the control system may include one or more processors1850 (e.g., a microprocessor, microcontroller, application-specificintegrated circuit, field programmable gate array, and/or other logiccircuitry). The processor 1850, which may be physically located on therobotic arm itself, in a cart-carried unit, or other suitable structure,may be communicatively linked to a console (e.g., user interface). Thecontrol system may further include a set of multiple motor controllers(e.g., 1854 a, 1856 a, 1858 a, 1860 a, 1862 a, 1864 a, and 1866 a), eachof which is communicatively coupled to the processor 1850 and dedicatedto control and operate at least one actuator in a respective jointmodule in the robotic arm (e.g., 1854 b, 1856 b, 1858 b, 1860 b, 1862 b,1864 b, and 1866 b).

Signals from the motor controller may be communicated to the actuatorsthrough wired connections bundled (e.g., in a wire harness) and passingwithin the internal volumes of the arm links and joint modules of therobotic arm. In some variations, the wired connections may be bundledtogether, such as in a wire harness. Furthermore, the physical layer ofthe networking hardware may be designed to reduce electricalinterference caused by switching transients or sudden bursts of energygenerated by motor drivers when they actuate the joint modules. Forinstance, the physical layer can include RS485-type transceivers,opto-isolated, and/or transformer-coupled interfaces to reduce suchinterference.

In some variations, it may be desirable to reduce the number of totalwires inside the robotic arm, which would reduce the profile of the wirebundle or harness and simplify the routing of the wires through thelinks and moving joint modules. For example, the wiring connections maybe arranged in a daisy chain ring configuration, in which the wiring forcommunication to and from a node (e.g., actuator or sensor) is reducedto one wire pair going into the node and another wire pair going out ofthe node. Furthermore, the daisy chain ring configuration of the wiringinside the robotic arm may be extended throughout the rest of therobotic-assisted surgical system (e.g., other robotic arms). As aresult, the extension of the daisy chain ring configuration may, forexample, reduce time lags in the exchange of data (e.g., command andfeedback information) between the nodes and the control system. Thedaisy chain ring configuration may also distribute timing informationthat may be used to phase lock or synchronize all actuator nodes to thecontrol system, which helps ensure that feedback information from allactuator nodes is been generated synchronously, thereby enabling moreprecise control loops for governing behavior of the one or more roboticarms.

As shown in FIG. 19, the control system may be configured to actuate atleast one joint module based on one or more control modes. For example,a control mode may be classified as a primitive mode (which governs theunderlying behavior for actuation of at least one joint module) or as auser mode (which governs higher level, task-specific behavior and mayutilize one or more primitive modes). In some variations, a user mayselect a particular control mode through a user interface device (e.g.,selecting a particular mode from an operation command list) or byactivating buttons, touchscreens, or other touchpoint surface such asthose described above on the surface of the robotic arm. Upon a userengaging a particular touchpoint surface, the switching between thevarious control modes may, for example, be handled by a statemachine/controller.

Primitive Modes

In some variations, a primitive mode may be the smallest functionalblock that enables the robotic arm to carry out a particular task (e.g.,actuate a joint module to increase or decrease the angle between armlinks on either side of the joint module). As shown in FIG. 19, oneexample of a primitive control mode is a joint command mode, whichallows a user to directly control a single joint module actuatorindividually, and/or multiple joint module actuators collectively. Inthe joint command mode, the robotic arm may be commanded joint-by-joint.The commands are direct or “pass through,” in that outputs are the sameas inputs. For instance, the inputs/outputs of the control systeminclude joint module indices (e.g., index defining which joint module isassociated with the command), an indication of the commanded mode(defining whether commands are to control the current or power to theone or more actuators in the joint module, the rotational position ofthe one or more actuators in the joint module, the rotational velocityof the one or more actuators in the joint module, etc.), and anindication of the reference command (values for the commanded current,position, velocity, etc.). In some variations, the joint command modemay include some error handling steps on the joint module and/oractuator level. For instance, the joint command mode may include a checkthat the joint command will not cause the joint module to exceed itsphysical limit, and/or a check that the joint command will not exceedthe current limits of the one or more actuators. In some variations, thejoint command mode may, for example, be used for system tuning andtesting.

As shown in FIG. 19, another example of a primitive control mode isgravity compensation mode, in which the robotic arm holds itself in aparticular pose (i.e., particular position and orientation of the linksand joint modules) without drifting downward due to gravity. In gravitycompensation mode, the control system determines the gravitational forceacting on at least a portion of the links in the robotic arm. Inresponse, the control system actuates at least one joint module tocounteract the determined gravitational force such that the robotic armcan maintain the current pose. To determine the gravitational force, thecontroller may perform calculations based on measured joint anglesbetween adjacent links, known kinematic and/or dynamic properties of therobotic arm and instrument driver, and/or known characteristics of theactuator (e.g., gear ratio, motor torque constants), etc. Furthermore,the robotic arm may include at least one accelerometer or other suitablesensor configured to determine the direction of the appliedgravitational force on the arm. Based on these calculations, thecontroller may algorithmically determine what force at each joint moduleis needed to compensate for gravitational force acting on that jointmodule. For instance, the controller may utilize a forward kinematicalgorithm, an inverse dynamic algorithm, or any suitable algorithm. Thecontroller may then generate a set of commands to provide the actuatorsin the joint modules with appropriate level of current which holds therobotic arm in the same pose. The gravity compensation mode may, forexample, be used alone or in combination with other modes in user modesdescribed below, such as docking mode, draping mode, setup mode, and/orinstrument change mode (e.g., coupling a surgical instrument to theinstrument holder, swapping an existing surgical instrument in theinstrument holder with a new surgical instrument, etc.).

As shown in FIG. 19, another example of a primitive control mode isfriction compensation mode, or active back-drive mode. Often, a user maywant to directly manipulate (e.g., pull or push) one or more of the armlinks to arrange the robotic arm in a particular pose. These actionsback-drive the actuators of the robotic arm. However, due to frictioncaused by mechanical aspects such as high gear ratios in the jointmodules, the user must apply a significant amount of force in order toovercome the friction and successfully move the robotic arm. To addressthis, the friction compensation mode enables the robotic arm to assist auser in moving at least a portion of the robotic arm, by activelyback-driving appropriate joint modules in the direction needed toachieve the pose desired by the user. As a result, the user may manuallymanipulate the robotic arm with less perceived friction or with anapparent “lightweight” feel. In some variations, the controller may alsoincorporate pre-defined parameters (e.g., duration of a force) to helpdistinguish between movement that is accidental (e.g., a brief bump ofan arm) and a sudden intended shift in arm position, then correct orreestablish arm position in the event a movement is determined to beaccidental. In friction compensation mode, the control system determinesthe presence and direction of a user-applied force acting on at leastone joint module (either directly or indirectly as the result of forceon one or more arm links) to back-drive the actuator in that jointmodule. In response, the control system actuates the joint module in thesame direction as the user-applied force to help the user overcomestatic or dynamic friction. To determine the presence, magnitude, anddirection of the user-applied force, the control system may monitor thevelocity and/or position of the joint modules or robotic links (e.g.,with force or torque sensors, accelerometers, etc.). Additionally, whenin friction compensation mode, the control system may send a ditheringcurrent signal to (e.g., a sine wave or square wave centered at zero,with frequency of about 0.5 Hz-1.0 Hz or other suitable frequency, andwith amplitude within the friction band in both directions) one or morejoint modules, such that the joint modules are primed to nearly, but notquite, overcome friction in either actuator direction. In response todetermining the presence and direction of user-applied force, thecontrol system may then generate a set of commands to provide theactuators in the joint modules with appropriate level of current to moreresponsively overcome friction. The friction compensation mode may, forexample, be used alone or in combination with other modes duringdocking, instrument change, etc.

As shown in FIG. 19, another example of a primitive control mode istrajectory following mode, in which the robotic arm may move to follow asequence of one or more Cartesian trajectory commands. Trajectorycommands may include, for example, velocity commands (framed in terms oflinear and/or angular movement) or target pose commands (framed in termsof end objective position and orientation of the links and jointmodules, such as a template pose for a particular kind of surgicalprocedure). If the command is a target pose that requires a number oflink movements to transition from a current pose to the target pose,then the control system may generate a trajectory (defining thenecessary link movements). If the command relates to a target pose thatis the same as the current pose, then the control system may generatetrajectory commands effectively resulting in a commanded “hold”position. For instance, the trajectory may be based on inputs including:commanded velocities or poses (e.g., transformation matrix, rotationmatrix, 3D vector, 6D vector, etc.), the arm links to be controlled,measured joint parameters (angles, velocities, accelerations, etc.),tool parameters (type, weight, size, etc.), and environmental parameters(e.g., predefined regions which the arm link is barred or forbidden fromentering, etc.). The control system may then use one or more algorithmsto generate the outputs of commanded joint parameters (position,velocity, acceleration, etc.) to the firmware and/or commanded motorcurrents as current feedforward to the firmware. Suitable algorithms fordetermining these output commands include algorithms based on forwardkinematics, inverse kinematics, inverse dynamics, and/or collisionavoidance (e.g., collision between arm links, between differentinstances of the robotic arm, between the arm and environment, etc.).The trajectory following mode may, for example, be used alone or incombination with other modes in user modes described below, such asdocking table mode, a draping mode, a setup mode and/or instrumentchange mode.

As shown in FIG. 19, another example of a primitive control mode is animpedance control mode, which allows the robotic arm to be compliant toa virtual environment without using a force and/or torque sensor.Generally, impedance control modulates the mechanical impedance of amechanical system. Mechanical impedance of a system is defined as theratio of force output of the system to motion input to the system. Bycontrolling the mechanical impedance of the system, one may control theamount of the system's resistance to environment-imposed externalmotions. For instance, the impedance control mode may use a spring anddamper system to model the surrounding environment, where a springconstant defines the force output for a modeled spring, and a dampingconstant defines the force output for a given velocity input. In somevariations, one application of the impedance control mode is thecreation and use of a virtual fixture, or haptics, such that the roboticarm can complete an operation (i.e., movement) that is compliant withdefined restrictions, such as the environment and/or one or morevirtual, geometric constraints applied to the robotic arm. One exemplarytype of a virtual fixture is a “forbidden region” virtual fixture, whichprevents the arm from entering into a predefined space in theenvironment (e.g., for collision avoidance). Another exemplary type of avirtual fixture is a “guidance” virtual fixture, which provides a guidedmotion to the arm by geometrically constraining range of motion limitsof the arm (e.g., constraining relative motion of arm links). Controltechniques in the impedance control mode can be framed as controllingthe joint space (controlling actuation of each joint module) and/orCartesian space (controlling the arm location in space). Inputs to thecontrol algorithm may include measured joint angles and/or velocities ofone or more portions of the robotic arm, selected virtual fixtureconfiguration, and location of a targeted control point on the roboticarm. The control system may then use one or more algorithms to generatecommanded joint actuator parameters (required current/torque, etc.)and/or status of the compliance to the imposed constraints. Suitablealgorithms for determining these output commands include algorithmsbased on forward kinematics, inverse kinematics, inverse dynamics,collision avoidance (e.g., collision between arm links, betweendifferent instances of the robotic arm, between the arm and environment,etc.), and/or virtual force rendering (with the use of a virtual modelsuch as geometric shape, mass, spring-and-damper, etc.). The impedancecontrol mode may, for example, be used alone or in combination withother modes during instrument change.

As shown in FIG. 19, another example of a primitive control mode is anadmittance control mode, which allows the robot arm to respond to senseduser force according to a virtual model (e.g., virtual mass/inertiaproperties). For instance, in response to one or more force/torquesensors that measure user force directed on the robotic arm, the actualrobotic arm may move in the same manner that the virtual arm model wouldif the user pushed/pulled on the virtual arm model in the same manner.In some variations, the user force is measured at least with torquesensors in one or more joint modules in the arm. In other variations,the user force is measured at least with a six DOF force/torque sensoron one or more links of the robotic arm (e.g., such as the six DOFsensor described above) or multiple sensors detecting six DOF inaggregate (e.g., two 3 DOF sensors). The control system may take as aninput the actual force/torque sensor readings, the force/torque sensortransformations to map the actual robotic arm to the virtual model, thevirtual model transformations to map parameters to a known referenceframe of the robotic arm, other virtual model properties, and/or roboticarm and instrument driver kinematics. The control system may then useone or more algorithms to generate commands to joint module actuatorsfor particular current, torque, joint positions, and/or other suitablejoint module parameters, in order to cause the robotic arm to moveaccording to the virtual mode. Suitable algorithms for determining theseoutput commands include algorithms based on forward kinematics, inversekinematics, inverse dynamics, collision avoidance, and/or forwarddynamics for the virtual model. The admittance control mode may, forexample, be used alone or in combination with other modes during portdocking or instrument change.

User Modes

In some variations, user modes may be control modes that overlay on topof primitive modes, in that a user mode can incorporate one or moreprimitive modes described above. The user modes allow the user tophysically interact with the robotic arm in a number of different waysduring different phases of a surgical procedure (e.g., duringpre-operation setup and testing, surgery, post-operation tear-down andstorage). For instance, certain user modes allow the robotic arm toreact in a certain way depending on a particular combination ofincorporated primitive modes. Additionally, certain user modes mayinvolve a predetermined sequence of automated movement steps designed toincrease efficiency for a particular phase of the surgical procedure.Many user modes are mutually exclusive from one another and cannot beselected simultaneously, but some user modes (e.g., teleoperation modeand virtual RCM mode) may operate in parallel.

As shown in FIG. 19, one example of a user mode is an idling mode, inwhich the robotic arm may rest in a current arm pose or a default armpose awaiting further commands or instruction. In one variation, theidling mode incorporates the trajectory following mode described above,defining the target pose as the same as the current pose, therebyresulting in a commanded “hold” position. In another variation, theidling mode additionally or alternatively incorporates the gravitycompensation mode described above.

As shown in FIG. 19, another example of a user mode is a setup mode, inwhich robotic arm may transition from a first pose (e.g., foldedconfiguration for storage and transport) to a default pose (e.g., atleast partially extended) such as a default setup pose or apredetermined template pose for a particular type of surgical procedure.Additionally, the robotic arm may initialize itself by completing apredetermined checklist (e.g., safety and functionality checks) ofaction items. The movement to a default pose and/or the checklistcompletion may be at least partially automatic or autonomous. Readinessof the robotic arm for use may be confirmed by a user and/or supervisorycontrol system. While the robotic arm is in the setup mode, users mayperform various pre-operative tasks on the robotic arm, such asinspection (e.g., visually or manually), cleaning, draping, etc.

As shown in FIG. 19, another example of a user mode is a mounting mode,in which the robotic arm is connected to an operative platform (e.g.,surgical table or cart) and/or initialized for setup. For instance,while being connected to the operative platform, the robotic arm mayrest in a current arm pose (e.g., the default pose achieved at the endof the action sequence in the setup mode). Similar to the idling mode,the docking table mode may incorporate the trajectory following moderesulting in a commanded “hold position”, and/or may incorporate thegravity compensation mode described above.

As shown in FIG. 19, another example of a user mode is a draping mode,in which the robotic arm facilitates the process in which sterilebarriers are coupled to the robotic arm (to maintain a sterile barrierbetween the robotic arm and the surgical instrument). For example, inthe draping mode, the robotic arm may automatically move itself to apre-determined draping pose, such as extended away from the patient andcloser to a surgical assistant, that improves access to regionsrequiring the attachment of sterile barriers (e.g., at the instrumentattachment point on the instrument driver). The surgical assistant may,for instance, walk around the patient table to each of multiple roboticarms in the draping poses to sequentially attach the sterile barrier toeach individual robotic arm. Alternatively, the multiple robotic armsmay automatically move closer to the surgical assistant so that thesurgical assistant may remain stationary, thereby improving setupefficiency. For instance, when the sterile draping on a first roboticarm is complete and a second robotic arm is ready to be similarlydraped, the control system may move the first robotic arm away toanother position and may move the second robotic arm closer to thesurgical assistant (e.g., after using sensors to automatically detectsterile barrier attachment, and/or after a user command indicating thatthe draping is complete). Furthermore, during draping, the user may beable to adjust the shape and position of the robotic arm to adapt tospecific circumstances, such as clutter in the room, size of thepatient, and/or limited height of the surgical assistant performingdraping. In some variations, the draping mode may incorporate the jointcommand mode and/or gravity compensation mode to control the roboticarm.

As shown in FIG. 19, another example of a user mode is a docking mode,in which the robotic arm facilitates the process in which the userattaches the robotic arm to a port (with cannula pre-inserted into thepatient's body) on the patient. In order to perform minimally-invasivesurgery, the distal end of the robotic arm is generally rigidly latchedto the port using gross or coarse positioning and fine positioningsteps. During gross positioning, the surgical assistant may manuallyguide the distal end of the robotic arm closer to the port (e.g., withinabout six inches, or other suitable distance to the port) by grabbing,pushing, pulling, or otherwise manually the arm directly (alternativelywhile grasping a handle, or by manipulating a joystick, D-pad, or otheruser interface touchpoint). During gross positioning, gravitycompensation and/or friction compensation may be applied at the armjoints as described above. Furthermore, in some variations, in order toprevent accidental or inadvertent bumps from moving the arm undesirably,the user's manually applied force may be required to overcome athreshold virtual spring force before the user's force causes the arm tomove. During fine positioning, the surgical assistant may furthermanually guide the distal end of the robotic arm to couple to thecannula inserted in the port. Fine positioning may be further enabledwith the use of a fine positioning clutch 170 (e.g., located on thespherical arm 150, near the instrument driver as shown in FIG. 1D anddescribed above), such as a trigger, button, switch, etc. Uponengagement of the fine positioning clutch 170, the linkages of the firstarm segment (Cartesian arm segment) may move under user guidance similarto during gross positioning, while locking at least some of the jointmodules of the linkages of the second arm segment (spherical armsegment) such that at least some of the linkages of the second armsegment do not move relative to one another. During these steps, thecontrol system may operate the robotic arm in gravity compensation modeand/or friction compensation mode described above.

As shown in FIG. 19, another example of a user mode is a teleoperationmode, in which the robotic arm is remotely controlled by a userinterface device during the surgical procedure. While in theteleoperation mode, typically the Cartesian arm segment may be fixed inspace (thereby preserving the mechanical RCM and the corresponding rangeof motion of the end effector) and the motion of the end effector may becontrolled by the spherical arm segment and the instrument driver. Theteleoperation mode may incorporate the gravity compensation mode, thetrajectory following mode, and/or impedance control mode describedabove. In some variations, the trajectory following mode and/or theimpedance control mode may focus on collision avoidance (e.g., withother robotic arms) while the robotic arm is in teleoperation mode.

As shown in FIG. 19, another example of a user mode is repositioningmode, in which the user may move the robotic arm in a new pose withoutchanging the end effector instrument position and orientation. This kindof repositioning is possible due to the redundant DOFs in the roboticarm. For instance, the distal end of the robotic arm may remain dockedto the port (allowing the mechanical RCM and the instrument to remainfixed in space) while the robotic arm is moved around the instrumentdriver (e.g., switching between either the “low” or “high” arm positionand the “flipped” arm position described above). In the repositioningmode, the control system knows where the instrument is located, andtracks arm movement as the user repositions the robotic arm so as toavoid collisions with the robotic arm. Alternatively, the robotic armmay disengage from the instrument while the instrument is still insertedin the patient, then the robotic arm may reposition and subsequentlyreengage the instrument. After the robotic arm settles into a new poseand reengages with the instrument, the control system may initiate acheck to help ensure that the functionality and control of theinstrument is behaving correctly. The repositioning mode may incorporatethe gravity compensation mode, trajectory following mode, and/orimpedance control mode described above.

As an illustrative example, when the robotic arm is in the repositioningmode, the entire robotic arm may operate with gravity compensation. Atleast part of the first segment of the robotic arm (e.g., at least aportion of the Cartesian arm segment) may be passive, with joint modulesthat are passively back-drivable. At least part of the second segment ofthe robotic arm (e.g., at least a portion of the spherical arm segment)may be active, with joint modules that are locked in an active “hold”position in trajectory following mode in order to maintain the RCM andend effector position/orientation. After the robotic arm receives a userforce (e.g., push or pull) on the robotic arm, the user force ispropagated to the passive joint modules and causes the passive joints tomove generally in compliance with the user force, with some constraints(e.g., implemented through impedance control). In particular, certainfeatures (e.g., the distal most end of the passive arm segment) may beconstrained on the surface of a virtual fixture, such as a generallyspherical surface, such that the passive arm segment can only movewithin the regions not forbidden by the virtual fixture. While thepassive arm segment is moving, the joint modules in the active armsegment may be actively driven to maintain a substantiallyconstant/stable instrument and RCM position and angle, despite thepassive arm segment being pushed to a new location on the virtualspherical surface. As shown in FIG. 19, another example of a user modeis virtual RCM mode, in which the robotic arm establishes a virtualremote center of motion that is not coincident with the mechanicalremote center of motion. The virtual remote center of motion is createdas the result of software combined with mechanical design. Typically,during a surgical procedure, the mechanical RCM is preserved by fixingthe pose of the Cartesian arm segment and moving the spherical armsegment (i.e., during teleoperation mode). However, in the virtual RCMmode, the mechanical RCM can move in order to create better physicalclearance between the robotic arm and the patient, while maintaining theprevious effective range of motion of the end effector at a virtual RCM.The virtual RCM is achieved by moving both the Cartesian arm segment andspherical arm segment, as the Cartesian arm segment creates the offsetbetween the mechanical and virtual RCMs. In contrast to the mechanicalRCM, the virtual RCM can dynamically change, such as during a surgicalprocedure or between different surgical procedures. In some variations,the virtual RCM mode may incorporate the gravity compensation mode andtrajectory following mode, or alternatively may incorporate the gravitycompensation mode and the impedance control mode.

In some instances, the virtual RCM may be compliant, in that rather thanbeing constrained to a point, the virtual RCM may be constrained to aplane which is generally normal to the instrument shaft axis andintersects the instrument shaft axis at a specified height relative tothe mechanical RCM. In such instances, the joints of the Cartesian armoperate in gravity compensation, active back drive, and/or impedancecontrol modes such that the joints allow the arm to respond to forces inline with the virtual plane, but resist forces perpendicular to theplane. The joints of the spherical arm (e.g., J6 and J7) and the jointsof the instrument driver are still in trajectory following mode, therebyallowing the user to optionally continue driving the instrument andperforming surgery. This allows the robotic arm to naturally find thepivot point which creates a low amount of force on the patient's tissue,while preventing the instrument and cannula from being pulled or pushedinto or out of the patient. Such a mode of operation may be useful, forexample, during cases with large instrument ranges of motion (e.g.,multi-quadrant procedures) in which only a single, fixed pivot point maynot be ideal. Other cases, such as procedures for operating onoverweight/obese patients with thicker tissue layers, and thoracicprocedures in which the cannula and instrument pass between ribs, mayalso benefit from such a compliant virtual RCM mode. The compliantvirtual RCM mode may be used in conjunction with teleoperation mode orit may be engaged by the user selectively and intermittently. This modemay also be useful during cases in which the patient table is tiltedduring the procedure, as it would allow the arm to compliantly followany shifts in patient tissue that result from the shift of the table(e.g., from Trendelenburg to reverse Trendelenburg position).

As shown in FIG. 19, another example of a user mode is instrument changeor instrument change mode, in which multiple joint modules of therobotic arm may act to move the surgical instrument in or out of thecannula (e.g. translation along instrument axis H) beyond the range ofmotion available by actuating solely the distal most joint module. Bymoving the surgical instrument further out of the cannula (for instance,with an actuated cannula latch mechanism, e.g. operated by a motor, sothat the cannula may be detached without a user's manual directassistance), the robotic arms may easily dock or change between cannulaeand instruments. In some variations, the instrument change mode mayadditionally or alternatively allow automatic instrument change in whichthe control system commands automatically taking the instrument out ofthe cannula, changing end effector tips or instruments, and re-dockingthe robotic arm to the cannula. Various selected end effector tips maybe arranged in a pre-defined order on a surface (e.g., table), such thatthe control system may locate and identify desired end-effector tips foran automatic instrument change operation. In some variations, theinstrument change mode may incorporate gravity compensation mode andtrajectory following mode.

Other user modes may be programmed into the control system thatincorporate and combine aspects of the various control modes describedabove. For example, another example of a user mode is a post-operativemode which may be similar to the set-up mode, except some steps mayoccur in a different order (e.g., system check, followed by folding therobotic arm into a folded configuration for storage). The post-operativemode may also include triggering a complete power off cycle. Otherpotential modes include a servicing mode, cleaning mode (e.g., move therobotic arm into a fully extended pose to increase exposed surface areaduring cleaning or sterilization), inspection mode, parade or marketingmode (e.g., pre-programmed series of movements for demonstration poses),cycle testing mode, and/or any other suitable mode.

Software Updateability

In some variations, the robotic surgical system may further include oneor more processors for governing operation of the robotic arm and/orother components (e.g., instrument driver). For example, the roboticsurgical system may include a control console or control tower includingone or more computers, or other suitable computer arrangement. Forexample, as shown in FIG. 18, a control console 1852 may becommunicative coupled to the at least one processor 1850 that controlsthe motor controllers for one or more robotic arms.

The control console 1852 may include software that may be changed (e.g.,upgraded) periodically or intermittently for altering control of therobotic arm and/or other components of the robotic surgical system (e.g.handheld user interface devices). Advantageously, for example, updatingthe software that controls operation of the robotic arm may enabledifferent functionalities and characteristics of the robotic arm withoutswapping out actual hardware of the robotic arm. Furthermore, in somevariations, the software (within a particular version of software, oramong different versions of software) may be specific to a surgeon orother user operating the robotic surgical system, and/or otherwisecustomizable to a user.

A different version of software may, for example, provide newer versionsof control modes and/or control algorithms. For example, a new versionof software may provide a new gravity compensation mode that moreaccurately or more quickly (through a faster computational process,etc.) counteracts gravitational force acting upon the robotic arm. Asanother example, a new version of software may provide a new scheme(parameters, boundaries, impedance values, etc.) for a virtual RCMand/or virtual fixture.

As another example, a different version of software may provide adifferent set of template or predetermined poses for the robotic arm(e.g., different variations of a “low”, “high”, and/or “flipped” armconfigurations described above).

In other examples, different versions of software may bepatient-specific, patient-type specific, and/or surgical procedure-typespecific, etc. For example, certain predetermined robotic arm poses orconfigurations may be more optimized for smaller patients (e.g.,pediatric patients), while other robotic arm poses or configurations maybe more optimized for larger patients.

As another example, different versions of software may provide newerversions of graphical user interfaces on a display, touchscreen, etc.through which a user may view characteristics of the robotic arm (e.g.,control mode, operational errors or warnings, etc.), where the newerversions of the a graphical user interface may include changes to, forexample, layout and content of a menu.

Software updates to the arm may be administered, for example, throughtransfer of a file from a storage medium (e.g., hard drive, flash drive,floppy disk, cloud storage), through a wired and/or wireless connection.Software updates for the console 1852 (or other controlling computerarrangement) may be pushed or pulled on a periodic basis (e.g., daily,weekly, biweekly, monthly, bimonthly, semi-annually, annually, etc.),such as from a preexisting storage medium or other source. Additionallyor alternatively, software updates may be triggered based in response toa user input (e.g., user selection on a user interface to updatesoftware).

Sterilization

In some variations, sterilization of the robotic arm prior to use in arobotic-assisted surgical system may be desirable in order to reduce thelikelihood of inadvertently transmitting bacteria and other pathogens tothe patient. For example, the robotic arm may be sterilized and thencovered (e.g., with a bag, wrap, or other suitably sealed covering) tomaintain its sterile condition. As another example, the robotic arm mayfirst be covered and then sterilized through the cover, which can thensubsequently maintain the sterile condition of the robotic arm. Asterilized and bagged robotic arm may be subsequently handled with lessconcern for maintaining sterility throughout packaging, transport, etc.until removal in a sterile field of use (e.g., operating room). Suitablesterilization procedures may include, for example, treating the roboticarm with ultraviolet light, e-beam radiation, gamma rays, and/or gas.The robotic arm may additionally or alternatively be sterilized in anautoclave or through another suitable medical grade sterilizationprocess (e.g., in a resterilization process after a single use).

In other variations, the robotic arm may be treated for generalcleanliness, but not sterility. For example, the robotic arm may bewiped down for dust, dirt, and/or other visible foreign objects.Following such a cleaning procedure, the robotic arm may be bagged tomaintain its generally clean state. For instance, the robotic arm may becovered with a bag, drape, tarp, or other covering to help protect therobotic arm from splashes and other dangers.

Other examples of systems for maintaining sterility of the robotic armand other components are described in detail in U.S. Provisional PatentApplication Ser. No. 62/436,957 titled “STERILE ADAPTERS WITH A SHIFTINGPLATE FOR USE IN A ROBOTIC SURGICAL SYSTEM,” U.S. Provisional PatentApplication Ser. No. 62/436,965 titled “STERILE ADAPTER DRIVE DISKS FORUSE IN A ROBOTIC SURGICAL SYSTEM,” U.S. Provisional Patent ApplicationSer. No. 62/436,974 titled “STERILE ADAPTERS WITH A TOOL SEAT FOR USE INA ROBOTIC SURGICAL SYSTEM,” and U.S. Provisional Patent Application Ser.No. 62/436,981 titled “DRAPE ATTACHMENT TO STERILE ADAPTERS FOR USE IN AROBOTIC SURGICAL SYSTEM,” each of which was filed Dec. 20, 2016 and ishereby incorporated in its entirety by this reference.

The foregoing description, for purposes of explanation, used specificnomenclature to provide a thorough understanding of the invention.However, it will be apparent to one skilled in the art that specificdetails are not required in order to practice the invention. Thus, theforegoing descriptions of specific embodiments of the invention arepresented for purposes of illustration and description. They are notintended to be exhaustive or to limit the invention to the precise formsdisclosed; obviously, many modifications, and variations are possible inview of the above teachings. The embodiments were chosen and describedin order to best explain the principles of the invention and itspractical applications, and they thereby enable others skilled in theart to best utilize the invention and various embodiments with variousmodifications and/or in various combinations as are suited to theparticular use contemplated.

The invention claimed is:
 1. A robotic surgical system, comprising: arobotic arm comprising: a first arm segment comprising a first pluralityof links providing the robotic arm with at least five degrees offreedom; and a second arm segment comprising a second plurality of linksproviding the robotic arm with at least two degrees of freedom, whereinthe second plurality of links comprises a roll link, a first linkrotatable within a first plane and having a proximal end coupled to adistal end of the roll link, and a second link rotatable within a secondplane and having a proximal end coupled to a distal end of the firstlink; and an instrument driver configured to hold a surgical instrumentand rotate the surgical instrument around a remote center of motion,wherein the instrument driver is coupled to a distal end of the secondlink such that the instrument driver is not parallel to at least one ofthe first and second planes, and the second arm segment is configured torotate the instrument driver around a roll axis about which the rolllink is configured to rotate, and a pitch axis about which rotation isremotely controlled by the first link and the second link, and whereinthe roll axis and the pitch axis are offset from each other and theremote center of motion.
 2. The system of claim 1, wherein the roboticarm is foldable into a compact configuration in which the instrumentdriver is positioned between the roll link and at least one of the firstand second links.
 3. The system of claim 1, wherein at least a portionof the roll link is oriented along the roll axis and at least a portionof the instrument driver is angularly offset from the roll axis.
 4. Thesystem of claim 1, wherein the second arm segment is configured to movethe surgical instrument within a generally spherical workspace, andwherein the first arm segment is configured to move the location of thespherical workspace.
 5. The system of claim 1, wherein a first degree offreedom of the robotic arm is provided by rotation of the roll linkrelative to the first arm segment.
 6. The system of claim 5, whereinrotation of the roll link relative to the first arm segment causesmovement of the instrument driver in a roll direction.
 7. The system ofclaim 5, wherein a second degree of freedom of the robotic arm isprovided by synchronous rotation of the first and second links relativeto the roll link.
 8. The system of claim 7, wherein synchronous rotationof the first and second links causes movement of the instrument driverin a pitch direction.
 9. The system of claim 1, wherein at least one ofthe roll axis and the pitch axis is offset by about 2 centimeters orless from the remote center of motion.
 10. The system of claim 1,wherein the first and second links are different lengths.
 11. The systemof claim 10, wherein the first link is shorter than the second link. 12.The system of claim 1, wherein the first and second links areoperatively coupled with a pulley arrangement.
 13. The system of claim1, wherein the robotic arm is coupled to a table.
 14. A robotic surgicalsystem, comprising: a robotic arm comprising a roll link, a first linkrotatable within a first plane and having a proximal end coupled to adistal end of the roll link, and a second link rotatable within a secondplane and having a proximal end coupled to a distal end of the firstlink; and an instrument driver configured to hold a surgical instrumentand rotate the surgical instrument around a remote center of motion,wherein the instrument driver is coupled to a distal end of the secondlink such that the instrument driver is not parallel to at least one ofthe first and second planes, and the robotic arm is configured to rotatethe instrument driver around a roll axis and a pitch axis, wherein theroll axis and the pitch axis are offset from each other, and wherein atleast one of the roll axis and the pitch axis is offset by about 5centimeters or less from the remote center of motion such that therobotic arm is foldable into a compact configuration.
 15. The system ofclaim 14, wherein when in the compact configuration, the instrumentdriver is positioned between the roll link and at least one of the firstand second links.
 16. The system of claim 14, wherein at least a portionof the roll link is oriented along the roll axis and at least a portionof the instrument driver is angularly offset from the roll axis.
 17. Thesystem of claim 14, wherein the roll axis and the pitch axis are offsetfrom the remote center of motion.
 18. The system of claim 14, wherein atleast one of the roll axis and the pitch axis is offset by about 2centimeters or less from the remote center of motion.
 19. The system ofclaim 18, wherein the robotic arm is coupled to a table.
 20. A roboticsurgical system, comprising: a robotic arm comprising: a first armsegment comprising a first plurality of links providing the robotic armwith at least five degrees of freedom; and a second arm segmentcomprising a second plurality of links providing the robotic arm with atleast two degrees of freedom, wherein he second plurality of linkscomprises a roll link, a first pitch link having a proximal end coupledto a distal end of the roll link, and a second pitch link having aproximal end coupled to a distal end of the first link; and aninstrument driver configured to hold a surgical instrument andconfigured to rotate the surgical instrument around a remote center ofmotion, wherein the second arm segment is configured to rotate theinstrument driver around a roll axis about which the roll link isoperable to rotate and a pitch axis about which rotation is remotelycontrolled by the first pitch link and the second pitch link, andwherein the roll axis and the pitch axis are offset from each other andthe remote center of motion.
 21. The system of claim 20, wherein atleast one of the roll axis and the pitch axis is offset by about 5centimeters or less from the remote center of motion.
 22. The system ofclaim 21, wherein at least one of the roll axis and the pitch axis isoffset by about 2 centimeters or less from the remote center of motion.23. The system of claim 21, wherein the roll axis and the pitch axis areoffset by about 2 centimeters or less from the remote center of motion.24. The system of claim 20, wherein the second arm segment is configuredto move the surgical instrument within a generally spherical workspace,and wherein the first arm segment is configured to move the location ofthe spherical workspace.
 25. The system of claim 20, wherein rotation ofthe roll link relative to the first arm segment causes movement of theinstrument driver around the roll axis, and wherein synchronous rotationof the first and second pitch links causes movement of the instrumentdriver around the pitch axis.
 26. The system of claim 25, wherein therobotic arm is coupled to a table.